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Fix Dervivative equation wrong brackets (#1693)

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This commit is contained in:
Raja Subramanian
2023-05-07 18:36:26 +05:30
committed by GitHub
parent 14a2d06bcd
commit ddcb8342ef
1 changed files with 4 additions and 2 deletions
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6
pkg/sfu/buffer/rtpstats.go
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@@ -194,7 +194,9 @@ func NewRTPStats(params RTPStatsParams) *RTPStats {
r.pidController.SetGains(2.0, 0.5, 0.25)
r.pidController.SetDerivativeLPF(0.02)
r.pidController.SetOutputLimits(-0.025*float64(params.ClockRate), 0.025*float64(params.ClockRate))
outMin, outMax := -0.025*float64(params.ClockRate), 0.025*float64(params.ClockRate)
r.pidController.SetOutputLimits(outMin, outMax)
r.pidController.SetIntegralLimits(outMin/2.0, outMax/2.0)
return r
}
@@ -1837,7 +1839,7 @@ func (p *PIDController) Update(setpoint, measurement float64, at time.Time) floa
}
}
p.dVal = (-2.0 * p.kd * (measurement - p.prevMeasurement)) + (((2.0*p.tau - duration) * p.dVal) / (2.0*p.tau + duration))
p.dVal = (-2.0*p.kd*(measurement-p.prevMeasurement) + (2.0*p.tau-duration)*p.dVal) / (2.0*p.tau + duration)
output := proportional + p.iVal + p.dVal
if p.isOutLimitsSet {