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pidctrl Actually use the variables that we assign to as seatbelts to prevent divide

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by zero

Reviewed by:	jeffr
This commit is contained in:
Matt Macy 2018-05-19 02:17:18 +00:00
parent c0874c3468
commit ae6be8e6f7
Notes: svn2git 2020-12-20 02:59:44 +00:00 
svn path=/head/; revision=333823
1 changed files with 6 additions and 6 deletions
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12
sys/kern/subr_pidctrl.c
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@ -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;