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@ -45,12 +45,20 @@ float Pid::getValue(float target, float input, float dTime) {
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prevError = error;
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/**
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* If we have exceeded the ability of the controlled device to hit target, the I factor will keep accumulating and approach infinity.
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* Here we limit the I-term #353
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*/
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if (iTerm > maxResult - (pTerm + dTerm + pid->offset))
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iTerm = maxResult - (pTerm + dTerm + pid->offset);
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if (iTerm < minResult - (pTerm + dTerm + pid->offset))
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iTerm = minResult - (pTerm + dTerm + pid->offset);
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float result = pTerm + iTerm + dTerm + pid->offset;
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if (result > maxResult) {
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// iTerm -= result - maxResult;
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result = maxResult;
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} else if (result < minResult) {
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// iTerm += minResult - result;
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result = minResult;
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}
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return result;
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@ -249,5 +249,5 @@ int getRusEfiVersion(void) {
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return 123; // this is here to make the compiler happy about the unused array
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if (UNUSED_CCM_SIZE[0] * 0 != 0)
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return 3211; // this is here to make the compiler happy about the unused array
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return 20170212;
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return 20170213;
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}
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