Test and fix integral control in autopilot
chrishajduk84 opened this issue · 2 comments
chrishajduk84 commented
We have never used integral control while flying. The code is partially there, however it needs to be completed and fixed.
-Make sure there is no overflow in the integral summation (make sure it doesn't max out)
The best option may be to convert all the control loops back into floating point calculations, and optimize the code elsewhere.
ianjfrosst commented
Working on this right now at https://github.com/ianjfrosst/PICpilot/tree/orientation_rewrite. Implemented a general interface for PID loops, which includes some integral control protection.
ianjfrosst commented
Fixed in #107