Commit
cafcaa40c1bd3e01283d2970d70e8480267fb48e
by lamontPID rewrite
Adds PIDLoop2 which is written more conventionally.
- exposes pterm, iterm and dterm for inspection
- trapezoidal integration/differentiation
- standard and parallel form setters
- separate out the deadbands for p, i, d and output
- proper tracking anti-windup
- first order reset element behavior (extended clegg integrator)
Also fixes bugs in the B and C options for 2DOF behavior.
Tweaks the BetterController to just be a cascade with a PI instead of
the PID, with a more aggressive integral term and no derivative. Backed
off the p-term over what matlab recommended, because it made some
engines with too much gimbal way too twitchy still.
Signed-off-by: Lamont Granquist <lamont@scriptkiddie.org>
(commit: cafcaa4)