Fixed HW validation menu

Fixed some minor issues/bugs git-svn-id: https://svn.vbchaos.nl/svn/hsb/trunk@284 05563f52-14a8-4384-a975-3d1654cca0fa
2017-11-21 12:36:16 +00:00
parent 5ccc28e32d
commit ff01d92ea8
23 changed files with 395 additions and 182 deletions
--- a/Code/HAL/src/PID.c
+++ b/Code/HAL/src/PID.c
@@ -95,6 +95,16 @@ void PID_destruct(struct Pid* self)
 }


+void PID_reset(struct Pid* self)
+{
+   if (self->initialized)
+   {
+      self->iTerm    = 0;
+      self->input_d1 = 0;
+   }
+}
+
+
 int PID_calculate(struct Pid* self, int error)
 {
   int returnValue = 0;