Author: alc
Date: Thu Jun 7 07:48:50 2018
New Revision: 334769
URL: https://svnweb.freebsd.org/changeset/base/334769
Log:
When pidctrl_daemon() is called multiple times within an interval, it
should use the cumulative error to calculate the output.
Modified:
head/sys/kern/subr_pidctrl.c
Modified: head/sys/kern/subr_pidctrl.c
==============================================================================
--- head/sys/kern/subr_pidctrl.c Thu Jun 7 07:48:26 2018
(r334768)
+++ head/sys/kern/subr_pidctrl.c Thu Jun 7 07:48:50 2018
(r334769)
@@ -146,7 +146,7 @@ pidctrl_daemon(struct pidctrl *pc, int input)
pc->pc_derivative = pc->pc_error - pc->pc_olderror;
/* Divide by inverse gain values to produce output. */
- output = (error / Kpd) + (pc->pc_integral / Kid) +
+ output = (pc->pc_error / Kpd) + (pc->pc_integral / Kid) +
(pc->pc_derivative / Kdd);
output = MAX(output - pc->pc_output, 0);
/* Save for sysctl. */
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