X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/8b52ffcaab047d950f2c0818680f3347d55dce70..c8ebb71cde973439d2a2161cc72f170bfed3a25b:/exec/bkgpslog

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 0dd7f5d..b69b8be 100755
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -950,8 +950,8 @@ magicBufferSleepPID() {
 
     ### PID Control factors
     K_P=1; # Gain for compensating buffer round lag
-    T_I="$((4*BUFFER_TTL_NS))"; # Consider this number of past nanoseconds to eliminate error
-    T_D="$((1*BUFFER_TTL_NS))"; # Predict value this number of nanoseconds into the future
+    T_I="$(((4)*BUFFER_TTL_NS/(1)))"; # Consider this number of past nanoseconds to eliminate error
+    T_D="$(((1)*BUFFER_TTL_NS/(1)))"; # Predict value this number of nanoseconds into the future
     
     # Calculate Error, errNS, in nanoseconds
     ## Get current time
@@ -976,12 +976,18 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     # 	errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
-    errReset="$(( (errReset + (errNS*BUFFER_TTL_NS)) ))" && vbm "errReset:$errReset";
+    vbm "errReset(orig):$errReset"
+    errReset="$(( (errReset + (errNS*BUFFER_TTL_NS)) ))" && vbm "errReset(post):$errReset";
 #    errResetx10e3="$(( ( errResetx10e3 + ( errNSx10e3 * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
 
     # Calculate errRate in nanoseconds per nanosecond
     errRate="$(( errNS / BUFFER_TTL_NS ))" && vbm "errRate:$errRate";
 #    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";
+
+    # Debug
+    vbm "errNS       :$errNS";
+    vbm "errResetTerm:$((errReset/T_I))";
+    vbm "errRateTerm :$((errRate*T_D))";
     
     # Calculate PID control signal
     ## ADJ = K_P * (errNS + errReset/T_I + errRate*T_D)