Emergency pid class fix

Open-STEM · Aug 16, 2023 · 4e1e3c8 · 4e1e3c8
1 parent 54cf711
commit 4e1e3c8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/XRPLib/pid.py b/XRPLib/pid.py
@@ -87,7 +87,7 @@ def update(self, error: float) -> float:
         derivative = (error - self.prev_error) / timestep
 
         # derive output
-        output = self.kp * error + self.ki * integral - self.kd * derivative
+        output = self.kp * error + self.ki * integral + self.kd * derivative
         self.prev_error = error
         self.prev_integral = integral