From 9ac9938748901f8f6f6f73fa751349cdcc1dcd27 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 29 Jan 2011 00:54:42 +0100 Subject: add option to disable saturation in regulation intermediary values When computing PID, the output code limit the value of P and I participation. This is a problem as this introduces non-linearities and limits the efficiency of P and I terms. --- AT91SAM7S256/Source/c_output.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'AT91SAM7S256/Source/c_output.c') diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c index c39f725..a016361 100644 --- a/AT91SAM7S256/Source/c_output.c +++ b/AT91SAM7S256/Source/c_output.c @@ -58,6 +58,7 @@ void cOutputInit(void* pHeader) pOut->Options = 0x00; } IOMapOutput.RegulationTime = REGULATION_TIME; + IOMapOutput.RegulationOptions = 0; VarsOutput.TimeCnt = 0; dOutputInit(); } @@ -137,6 +138,7 @@ void cOutputCtrl(void) } } dOutputSetRegulationTime(IOMapOutput.RegulationTime); + dOutputSetRegulationOptions(IOMapOutput.RegulationOptions); dOutputCtrl(); cOutputUpdateIomap(); } -- cgit v1.2.3