typo with dt isset

Author: askuric

src/common/base_classes/FOCMotor.cpp

@@ -485,30 +485,30 @@ void FOCMotor::updateTorqueControlType(TorqueControlType new_torque_controller)
 // - if changing to torque control set target to zero
 void FOCMotor::updateMotionControlType(MotionControlType new_motion_controller) {
   if (controller == new_motion_controller) return; // no change
-  switch(new_motion_controller)
-  {
-  case MotionControlType::angle:
-    if(controller != MotionControlType::angle_openloop) break;
-  case MotionControlType::angle_openloop:
-    if(controller != MotionControlType::angle) break;
-    // if the previous controller was not angle control
-    // set target to current angle
-    target = shaft_angle;
-    break;
-  case MotionControlType::velocity:
-    if(controller != MotionControlType::velocity_openloop) break;
-  case MotionControlType::velocity_openloop:
-    if(controller != MotionControlType::velocity) break;
-    // if the previous controller was not velocity control
-    // stop the motor
-    target = 0;
-    break;
-  case MotionControlType::torque:
-    // if torque control set target to zero
-    target = 0;
-    break;
-  default:
-    break;
+
+  switch(new_motion_controller){
+    case MotionControlType::angle:
+      if(controller == MotionControlType::angle_openloop) break;
+    case MotionControlType::angle_openloop:
+      if(controller == MotionControlType::angle) break;
+      // if the previous controller was not angle control
+      // set target to current angle
+      target = shaft_angle;
+      break;
+    case MotionControlType::velocity:
+      if(controller == MotionControlType::velocity_openloop) break;
+    case MotionControlType::velocity_openloop:
+      if(controller == MotionControlType::velocity) break;
+      // if the previous controller was not velocity control
+      // stop the motor
+      target = 0;
+      break;
+    case MotionControlType::torque:
+      // if torque control set target to zero
+      target = 0;
+      break;
+    default:
+      break;
   }
 
   // finally set the new controller

src/common/lowpass_filter.cpp

@@ -15,7 +15,7 @@ float LowPassFilter::operator() (float x)
     float dt = Ts; 
     // if Ts is not set, use adaptive sampling time
     // calculate the ellapsed time dt
-    if(_isset(dt)){
+    if(!_isset(dt)){
         unsigned long timestamp = _micros();
         float dt = (timestamp - timestamp_prev)*1e-6f;
 

src/common/pid.cpp

@@ -20,7 +20,7 @@ float PIDController::operator() (float error){
     float dt = Ts; 
     // if Ts is not set, use adaptive sampling time
     // calculate the ellapsed time dt
-    if(_isset(dt)){
+    if(!_isset(dt)){
         unsigned long timestamp_now = _micros();
         dt = (timestamp_now - timestamp_prev) * 1e-6f;
         // quick fix for strange cases (micros overflow)