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bizhang_-obav
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2169e1f808db498c5d8b45c80a7d5e1ea0943ee6
bizhang_-obav
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apps
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systemlib
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pid
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Thomas Gubler
be9b58e1b9
re-adding pid limitation
2012-11-05 20:22:00 +01:00
..
pid.c
re-adding pid limitation
2012-11-05 20:22:00 +01:00
pid.h
Changes to the PID controller. Adds "limit" to the parameter set. Implements an output limit where the output magnitude is limited by the parameter value "limit". Also changes the integrator saturation such that the integrator is not updated (added to) if either updating it will cause the integrator values magnitude to exceed "intmax" or if the output magnitude would exceed "limit" with an updated integrator value.
2012-10-07 14:46:26 -06:00