Disable the PID output constraint for the attitude PIDs (rate/angle) … #194
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…and correct how the integral limit is computed/enforced Fixes bitcraze#185
theseankelly
commented
Jan 30, 2017
| float iLimit; //< integral limit | ||
| float outputLimit; //< output limit | ||
| float iLimit; //< integral limit, absolute value. '0' means no limit. | ||
| float outputLimit; //< total PID output limit, absolute value. '0' means no limit. |
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I still don't think it's a great idea to have the outputLimit functionality at all -- if the output of the PID needs to be limited, that suggests the coefficients need to be tuned instead. However, the current position controller makes use of this functionality, and I don't have a way to test out changes to that layer, so I've left it in.
See my comments on issue #185 for some more details.
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Thanks for the PR @theseankelly. I cannot see any difference when flying autonomously in the UWB system so I merged it. |
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…and correct how the integral limit is computed/enforced
Fixes #185