From fa21a55474a4a710b1a56de7a96b60213b81a537 Mon Sep 17 00:00:00 2001
From: but0n <but0n@icloud.com>
Date: Mon, 10 Oct 2016 10:49:44 +0800
Subject: [PATCH] [MOD]: Fixed PID and Rename Struct

---
 .../Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h          | 4 ++--
 .../Libraries/STM32F10x_StdPeriph_Driver/src/pid.c          | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
index 0eb09d0..f377225 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/pid.h
@@ -18,8 +18,8 @@ extern float g_Yaw, g_Pitch, g_Roll;     //eular
 #define KD 1
 
 typedef struct {
-    float Cache;
-    float *RealTime;
+    float Last;
+    float *Feedback;
     float Erro;
     float p;
     float i;
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/pid.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/pid.c
index 74cded6..fbd8d20 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/pid.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/pid.c
@@ -3,16 +3,16 @@
 #include "motor.h"
 
 void pid_SingleAxis(pid_pst temp, float setPoint) {
-    temp->Erro = *temp->RealTime - setPoint;
+    temp->Erro = setPoint - *temp->Feedback;
 
     temp->i += temp->Erro;
     if (temp->i > PID_IMAX) temp->i = PID_IMAX;
     else if (temp->i < PID_IMIN) temp->i = PID_IMIN;
 
-    temp->d = *temp->RealTime - temp->Cache;
+    temp->d = *temp->Feedback - temp->Last;
 
     temp->output = (short)(KP * (temp->Erro) + KI * temp->i + KD * temp->d);
-    temp->Cache = *temp->RealTime;
+    temp->Last = *temp->Feedback;
 }
 
 // float g_iErro, g_sumErro = 0;