rusefi
/
rusefi-full
mirror of https://github.com/rusefi/rusefi-full.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

PID - fix dTime usages #776

This commit is contained in:
rusefi 2019-04-25 20:50:28 -04:00
parent 05d43db76f
commit 1123eb99ff
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
firmware/util/math/pid.cpp
View File

@ -39,7 +39,8 @@ bool Pid::isSame(pid_s *pid) {
* @returns Output from the PID controller / the input to the process * @returns Output from the PID controller / the input to the process
*/ */
float Pid::getOutput(float target, float input) { float Pid::getOutput(float target, float input) {
return getOutput(target, input, 1); float dTime = MS2SEC(GET_PERIOD_LIMITED(pid));
return getOutput(target, input, dTime);
} }
float Pid::getUnclampedOutput(float target, float input, float dTime) { float Pid::getUnclampedOutput(float target, float input, float dTime) {