From c5f00ffc42fbe5efa03593021a2cf04dbf254a14 Mon Sep 17 00:00:00 2001
From: tymek <tymek@yx.dom>
Date: Fri, 1 Aug 2025 18:32:24 +0200
Subject: [PATCH] pid steering

---
 steer-pid.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/steer-pid.py b/steer-pid.py
index e4ca29f..752e1a0 100644
--- a/steer-pid.py
+++ b/steer-pid.py
@@ -100,8 +100,8 @@ for chunk in stream.iter_content(chunk_size=1024):
                     v = 0.25
 
                     p = -x
-                    d = (x - xp) * 1000 / -dtms
-                    i = mri * ip + x * dtms / -10000
+                    d = -(radius/100) * (x - xp) * 1000 / dtms
+                    i = -mri * ip + x * dtms / 10000
 
                     k = wp * p + wi * i + wd * d