Unscaled derivative gain

[nilay994]

avitra_esp/test/rpm_tuning/main/motor.c

Line 19 in 488bf4f

motor->del_duty_cycle = (motor->Kp)*motor->err - (motor->Kd)*(motor->err-motor->prev_err) + (motor->Ki)*(motor->cum_err);

Derivative gain must be multiplied by frequency of the thread or divided by the time taken for one execution of your sequential code.

[shanks-d]

I thought that the time factor will be nearly constant so the parameter Kd will take care of it