Date: Sat, 19 May 2018 02:17:18 +0000 (UTC) From: Matt Macy <mmacy@FreeBSD.org> To: src-committers@freebsd.org, svn-src-all@freebsd.org, svn-src-head@freebsd.org Subject: svn commit: r333823 - head/sys/kern Message-ID: <201805190217.w4J2HIgB064666@repo.freebsd.org>
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Author: mmacy Date: Sat May 19 02:17:18 2018 New Revision: 333823 URL: https://svnweb.freebsd.org/changeset/base/333823 Log: pidctrl Actually use the variables that we assign to as seatbelts to prevent divide by zero Reviewed by: jeffr Modified: head/sys/kern/subr_pidctrl.c Modified: head/sys/kern/subr_pidctrl.c ============================================================================== --- head/sys/kern/subr_pidctrl.c Sat May 19 02:15:40 2018 (r333822) +++ head/sys/kern/subr_pidctrl.c Sat May 19 02:17:18 2018 (r333823) @@ -103,9 +103,9 @@ pidctrl_classic(struct pidctrl *pc, int input) pc->pc_derivative = error - pc->pc_olderror; /* Divide by inverse gain values to produce output. */ - output = ((pc->pc_error / pc->pc_Kpd) + - (pc->pc_integral / pc->pc_Kid)) + - (pc->pc_derivative / pc->pc_Kdd); + output = ((pc->pc_error / Kpd) + + (pc->pc_integral / Kid)) + + (pc->pc_derivative / Kdd); /* Save for sysctl. */ pc->pc_output = output; pc->pc_input = input; @@ -146,9 +146,9 @@ pidctrl_daemon(struct pidctrl *pc, int input) pc->pc_derivative = error - pc->pc_olderror; /* Divide by inverse gain values to produce output. */ - output = ((error / pc->pc_Kpd) + - (pc->pc_integral / pc->pc_Kid)) + - (pc->pc_derivative / pc->pc_Kdd); + output = ((error / Kpd) + + (pc->pc_integral / Kid)) + + (pc->pc_derivative / Kdd); output = MAX(output - pc->pc_output, 0); pc->pc_output += output; pc->pc_input = input;
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