diff options
Diffstat (limited to 'os/various/pid.c')
| -rw-r--r-- | os/various/pid.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/os/various/pid.c b/os/various/pid.c index 07209ec..f704b29 100644 --- a/os/various/pid.c +++ b/os/various/pid.c @@ -55,7 +55,7 @@ bool pid_compute(pid_t* p) float dInput = (input - p->lastInput); p->outputSum += (p->ki * error); - /* Add Proportional on Measurement, if P_ON_M is specified */ + /* Add Proportional on Measurement, if PID_ON_M is specified */ if(!p->pOnE) p->outputSum -= p->kp * dInput; if(p->outputSum > p->outMax) p->outputSum = p->outMax; @@ -91,7 +91,7 @@ void pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn) if (Kp < 0 || Ki < 0 || Kd < 0) return; p->pOn = POn; - p->pOnE = POn == PID_P_ON_E; + p->pOnE = POn == PID_ON_E; p->dispKp = Kp; p->dispKi = Ki; |