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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
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3
firmware/util/math/pid.cpp
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@ -39,7 +39,8 @@ bool Pid::isSame(pid_s *pid) {
* @returns Output from the PID controller / the input to the process
*/
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) {