Signed-off-by: Miroslav Lichvar <mlich...@redhat.com>
---
pi.c | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/pi.c b/pi.c
index 9c7b148..e0116fe 100644
--- a/pi.c
+++ b/pi.c
@@ -137,8 +137,8 @@ static double pi_sample(struct servo *servo,
break;
}
- ki_term = s->ki * offset;
- ppb = s->kp * offset + s->drift + ki_term;
+ ki_term = s->ki * offset * weight;
+ ppb = s->kp * offset * weight + s->drift + ki_term;
if (ppb < -servo->max_frequency) {
ppb = -servo->max_frequency;
} else if (ppb > servo->max_frequency) {
--
2.1.0
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