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"Bug" in project #3
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I found Your program and try to use it in my project. But there was found a 'bug', as a result system work incorrectly.
I suggest You to make the following changes:
PID.h
63 float lasterror; //!< Last error value for differential term
PID.c
64 float dinput = error - pid->lasterror;
73 pid->lasterror = error
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