svn commit: r333823 - head/sys/kern

[Matt Macy]

Author: mmacy
Date: Sat May 19 02:17:18 2018
New Revision: 333823
URL: https://svnweb.freebsd.org/changeset/base/333823

Log:
  pidctrl Actually use the variables that we assign to as seatbelts to prevent divide
  by zero
  
  Reviewed by:	jeffr

Modified:
  head/sys/kern/subr_pidctrl.c

Modified: head/sys/kern/subr_pidctrl.c
==============================================================================
--- head/sys/kern/subr_pidctrl.c	Sat May 19 02:15:40 2018	(r333822)
+++ head/sys/kern/subr_pidctrl.c	Sat May 19 02:17:18 2018	(r333823)
@@ -103,9 +103,9 @@ pidctrl_classic(struct pidctrl *pc, int input)
 	pc->pc_derivative = error - pc->pc_olderror;
 
 	/* Divide by inverse gain values to produce output. */
-	output = ((pc->pc_error / pc->pc_Kpd) +
-	    (pc->pc_integral / pc->pc_Kid)) +
-	    (pc->pc_derivative / pc->pc_Kdd);
+	output = ((pc->pc_error / Kpd) +
+	    (pc->pc_integral / Kid)) +
+	    (pc->pc_derivative / Kdd);
 	/* Save for sysctl. */
 	pc->pc_output = output;
 	pc->pc_input = input;
@@ -146,9 +146,9 @@ pidctrl_daemon(struct pidctrl *pc, int input)
 	pc->pc_derivative = error - pc->pc_olderror;
 
 	/* Divide by inverse gain values to produce output. */
-	output = ((error / pc->pc_Kpd) +
-	    (pc->pc_integral / pc->pc_Kid)) +
-	    (pc->pc_derivative / pc->pc_Kdd);
+	output = ((error / Kpd) +
+	    (pc->pc_integral / Kid)) +
+	    (pc->pc_derivative / Kdd);
 	output = MAX(output - pc->pc_output, 0);
 	pc->pc_output += output;
 	pc->pc_input = input;