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Fix D component #13

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Fix D component #13

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4 changes: 2 additions & 2 deletions PID.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ float PIDController_Update(PIDController *pid, float setpoint, float measurement
/*
* Derivative (band-limited differentiator)
*/
pid->differentiator = -(2.0f * pid->Kd * (measurement - pid->prevMeasurement) /* Note: derivative on measurement, therefore minus sign in front of equation! */
/* Note: derivative on measurement, therefore minus sign in front of equation! */
pid->differentiator = (-(2.0f * pid->Kd * (measurement - pid->prevMeasurement))
+ (2.0f * pid->tau - pid->T) * pid->differentiator)
/ (2.0f * pid->tau + pid->T);

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