From owner-svn-src-head@freebsd.org Sat May 19 02:17:19 2018 Return-Path: Delivered-To: svn-src-head@mailman.ysv.freebsd.org Received: from mx1.freebsd.org (mx1.freebsd.org [IPv6:2610:1c1:1:606c::19:1]) by mailman.ysv.freebsd.org (Postfix) with ESMTP id 41B59EE6863; Sat, 19 May 2018 02:17:19 +0000 (UTC) (envelope-from mmacy@FreeBSD.org) Received: from mxrelay.nyi.freebsd.org (mxrelay.nyi.freebsd.org [IPv6:2610:1c1:1:606c::19:3]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (Client CN "mxrelay.nyi.freebsd.org", Issuer "Let's Encrypt Authority X3" (verified OK)) by mx1.freebsd.org (Postfix) with ESMTPS id D8525756E7; Sat, 19 May 2018 02:17:18 +0000 (UTC) (envelope-from mmacy@FreeBSD.org) Received: from repo.freebsd.org (repo.freebsd.org [IPv6:2610:1c1:1:6068::e6a:0]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (Client did not present a certificate) by mxrelay.nyi.freebsd.org (Postfix) with ESMTPS id B55C020AA2; Sat, 19 May 2018 02:17:18 +0000 (UTC) (envelope-from mmacy@FreeBSD.org) Received: from repo.freebsd.org ([127.0.1.37]) by repo.freebsd.org (8.15.2/8.15.2) with ESMTP id w4J2HIE8064667; Sat, 19 May 2018 02:17:18 GMT (envelope-from mmacy@FreeBSD.org) Received: (from mmacy@localhost) by repo.freebsd.org (8.15.2/8.15.2/Submit) id w4J2HIgB064666; Sat, 19 May 2018 02:17:18 GMT (envelope-from mmacy@FreeBSD.org) Message-Id: <201805190217.w4J2HIgB064666@repo.freebsd.org> X-Authentication-Warning: repo.freebsd.org: mmacy set sender to mmacy@FreeBSD.org using -f From: Matt Macy Date: Sat, 19 May 2018 02:17:18 +0000 (UTC) To: src-committers@freebsd.org, svn-src-all@freebsd.org, svn-src-head@freebsd.org Subject: svn commit: r333823 - head/sys/kern X-SVN-Group: head X-SVN-Commit-Author: mmacy X-SVN-Commit-Paths: head/sys/kern X-SVN-Commit-Revision: 333823 X-SVN-Commit-Repository: base MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit X-BeenThere: svn-src-head@freebsd.org X-Mailman-Version: 2.1.26 Precedence: list List-Id: SVN commit messages for the src tree for head/-current List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Sat, 19 May 2018 02:17:19 -0000 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;