- fixed scaling

git-svn-id: http://moon:8086/svn/projects/HendiControl@212 fda53097-d464-4ada-af97-ba876c37ca34
2019-04-03 05:52:51 +00:00
parent 9dbd92a379
commit b975cd9c6f
1 changed files with 3 additions and 5 deletions
@@ -152,7 +152,7 @@ class Controller():
 		# The loop
 		# ------------------------------
 		doLoop = True
-		useKalman = True
+		useKalman = False
 		while(doLoop):

 			time_start = time.time()
@@ -186,10 +186,8 @@ class Controller():
 				ctrl_theta = theta_ist_k
 				ctrl_dtheta = dtheta_ist_k
 			else:
-				theta_err = theta_soll - theta_ist
-				dtheta_err = heatrate_soll - dtheta_ist
-				ctrl_theta_err = self.theta_err_sm.process(theta_err)
-				ctrl_heatrate_err = self.heatrate_err_sm.process(60/self.dt * dtheta_err)
+				ctrl_theta_err = self.theta_err_sm.process(theta_soll - theta_ist)
+				ctrl_heatrate_err = self.heatrate_err_sm.process(heatrate_soll - 60/self.dt * dtheta_ist)
 				ctrl_theta = theta_ist
 				ctrl_dtheta = dtheta_ist