From 290d4c4359deb9e16253c58d086e0205ff837047 Mon Sep 17 00:00:00 2001 From: Paul Bovbel Date: Fri, 8 May 2015 10:43:32 -0400 Subject: [PATCH] Update computePid call to match documented/expected behaviour --- src/pid.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/pid.cpp b/src/pid.cpp index 3d6d9bdc..74970aa5 100644 --- a/src/pid.cpp +++ b/src/pid.cpp @@ -369,7 +369,7 @@ double Pid::computeCommand(double error, double error_dot, ros::Duration dt) d_term = gains.d_gain_ * d_error_; // Compute the command - cmd_ = - p_term - i_term - d_term; + cmd_ = p_term + i_term + d_term; return cmd_; }