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zhangni2012 / ardupilot-mega

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PID: derivative on measurement #908

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago 
I think there's a bug in the PID code.  Should the derivative error not be the 
negative of the process-lastProcess ?  As far as I can tell it's not negated 
anywhere.  Shouldn't it be negated on line 100?

https://code.google.com/p/ardupilot-mega/source/browse/libraries/AC_PID/AC_PID.c
pp

Original issue reported on code.google.com by Dr.G.O...@gmail.com on 18 Apr 2013 at 7:00