Author: mmacy
Date: Sat May 19 02:17:18 2018
New Revision: 333823
URL: https://svnweb.freebsd.org/changeset/base/333823
Log:
pidctrl Actually use the variables that we assign to as seatbelts to prevent
divide
by zero
Reviewed by: jeffr
Modified:
head/sys/kern/subr_pidctrl.c
Modified: head/sys/kern/subr_pidctrl.c
==============================================================================
--- head/sys/kern/subr_pidctrl.c Sat May 19 02:15:40 2018
(r333822)
+++ head/sys/kern/subr_pidctrl.c Sat May 19 02:17:18 2018
(r333823)
@@ -103,9 +103,9 @@ pidctrl_classic(struct pidctrl *pc, int input)
pc->pc_derivative = error - pc->pc_olderror;
/* Divide by inverse gain values to produce output. */
- output = ((pc->pc_error / pc->pc_Kpd) +
- (pc->pc_integral / pc->pc_Kid)) +
- (pc->pc_derivative / pc->pc_Kdd);
+ output = ((pc->pc_error / Kpd) +
+ (pc->pc_integral / Kid)) +
+ (pc->pc_derivative / Kdd);
/* Save for sysctl. */
pc->pc_output = output;
pc->pc_input = input;
@@ -146,9 +146,9 @@ pidctrl_daemon(struct pidctrl *pc, int input)
pc->pc_derivative = error - pc->pc_olderror;
/* Divide by inverse gain values to produce output. */
- output = ((error / pc->pc_Kpd) +
- (pc->pc_integral / pc->pc_Kid)) +
- (pc->pc_derivative / pc->pc_Kdd);
+ output = ((error / Kpd) +
+ (pc->pc_integral / Kid)) +
+ (pc->pc_derivative / Kdd);
output = MAX(output - pc->pc_output, 0);
pc->pc_output += output;
pc->pc_input = input;
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