Use the correct ratio when limiting the current integrator

This is a followup to d61fd21, where we incorrectly limited ourselves to half of the maximum speed.
mjbots · May 4, 2021 · 33ce490 · 33ce490
1 parent 55c02fd
commit 33ce490
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
@@ -1512,7 +1512,7 @@ class BldcServo::Impl {
             -max_V, max_V);
 
     const float max_current_integral =
-        kMaxVoltageRatio * 0.25f * status_.filt_bus_V;
+        kMaxVoltageRatio * 0.5f * status_.filt_bus_V;
     status_.pid_d.integral = Limit(
         status_.pid_d.integral,
         -max_current_integral, max_current_integral);