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- void PLL_step(PLL_TypeDef *p) {
- float err = *p->th - p->thf - p->S * p->dt;
- utils_norm_angle_rad(&err);
- p->thf += (p->S + p->Kp * err) * p->dt;
- utils_norm_angle_rad(&p->thf);
- p->S += p->Ki * err * p->dt;
- }
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