From 42c1f429b56d0835afe5516b10aaae0f23fe96a7 Mon Sep 17 00:00:00 2001
From: Steven Baltakatei Sandoval <baltakatei@gmail.com>
Date: Tue, 7 Jul 2020 10:16:38 +0000
Subject: [PATCH] test(bkgpslog):Add debug messages

---
 exec/bkgpslog | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 0dd7f5d..99238ed 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
@@ -982,6 +982,11 @@ magicBufferSleepPID() {
     # 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)
-- 
2.30.2