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 ------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Linuxptp-devel mailing list Linuxptp-devel@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/linuxptp-devel