Searched refs:dterm (Results 1 – 1 of 1) sorted by relevance
218 int32_t pterm, dterm, fp_error; in pid_calc() local244 dterm = mul_fp(pid->d_gain, fp_error - pid->last_err); in pid_calc()247 result = pterm + mul_fp(pid->integral, pid->i_gain) + dterm; in pid_calc()