added mixer.*;clean olds; added lpf3, etc

2022-09-10 22:38:13 +02:00
parent f3e30f3aa7
commit 13f9b3f8de
6 changed files with 70 additions and 77 deletions
@@ -23,8 +23,7 @@ void pidcont_setup(pidcont_t* p, double kp, double ki, double kd) {
    p->kd = kd;
 }

-
-double pidcont_next(pidcont_t* p, double target, double actual, double dt) {
+double pidcont_apply(pidcont_t* p, double target, double actual, double dt) {

    double error  = 0.0;
    double deriv  = 0.0;