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Code Issues Releases Activity

Autotuning: Make the output also follow the hysteresis output

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This commit is contained in:
James Cotton 2012-08-24 22:35:21 -05:00
parent a3f1894cd7
commit 59d1367d37
1 changed files with 1 additions and 1 deletions
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2
flight/Modules/Stabilization/relay_tuning.c
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@ -93,7 +93,7 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
RelayTuningSettingsGet(&relaySettings);
// Compute output, simple threshold on error
*output = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
*output = high ? relaySettings.Amplitude : -relaySettings.Amplitude;
/**** The code below here is to estimate the properties of the oscillation ****/