temple/caero-attitude-control
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fix number boolean comparison in PIDs

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templeofshadow
2026-06-29 23:37:14 -05:00
parent 46c04bf646
commit b8b22f29b1
1 changed files with 3 additions and 3 deletions
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6
main.lua
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@@ -861,8 +861,8 @@ function CreatePID(kp, ki, kd)
kd = kd, kd = kd,
integral = 0, lastError = 0, integral = 0, lastError = 0,
minOutput = 0, minOutput = 0.0,
maxOutput = 256, maxOutput = 256.0,
update = function(self, setpoint, pv, dt) update = function(self, setpoint, pv, dt)
local error = setpoint - pv local error = setpoint - pv
@@ -878,7 +878,7 @@ function CreatePID(kp, ki, kd)
local clampedOutput = 0 local clampedOutput = 0
if self.minOutput <= potential_i <= self.maxOutput then if self.minOutput <= potential_i and potential_i <= self.maxOutput then
self.integral = potential_i self.integral = potential_i
clampedOutput = raw_output clampedOutput = raw_output
else else