Searched refs:fp_error (Results 1 – 1 of 1) sorted by relevance
195 int32_t pterm, dterm, fp_error; in pid_calc() local198 fp_error = int_tofp(pid->setpoint) - busy; in pid_calc()200 if (abs(fp_error) <= int_tofp(pid->deadband)) in pid_calc()203 pterm = mul_fp(pid->p_gain, fp_error); in pid_calc()205 pid->integral += fp_error; in pid_calc()221 dterm = mul_fp(pid->d_gain, fp_error - pid->last_err); in pid_calc()222 pid->last_err = fp_error; in pid_calc()