pid steering

2025-07-31 18:39:56 +02:00 · 2025-07-31 18:39:56 +02:00 · 45e6a0449c
parent dca54f7f03
commit 45e6a0449c
1 changed files with 1 additions and 1 deletions
--- a/steer-pid.py
+++ b/steer-pid.py
@ -101,7 +101,7 @@ for chunk in stream.iter_content(chunk_size=1024):
                    v = 0.25

                    p = -x
-                    d = (x - xp) / dtms * 1000
+                    d = (x - xp) * 1000 / dtms
                    i = mri * ip + x * dtms

                    k = wp * p + wi * i + wd * d