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remove negative windup

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This commit is contained in:
Alessandro Mauri 2026-05-15 14:02:49 +02:00
parent 17c021a2a4
commit 0609877f9e
1 changed files with 1 additions and 1 deletions
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2
fw/main.c
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@ -391,7 +391,7 @@ uint16_t pid(int16_t delta, int16_t max_duty)
// TODO: use a back calculation anti windup strategy
// only integrate if the output is less then max
if (e < i2fp(100)) {
if (e < i2fp(100) && e > 0) {
intgrt = fp_add(intgrt, err_i);
}