Plane: fix guided heading control anti windup #25085
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as long as tested in SITL this looks good |
IamPete1
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Rebased and tested. PID limit flag being set by roll limit:
I have also made a change to disable defualt PID slew limiter by default. With the defualt P-gain of 5000 it is kicking in constantly. This would not have shown previously as the
This also removes the early return for passing the same heading. This meant that changes in heading type and accel limit were ignored. |
tridge
approved these changes
Oct 3, 2023
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Spotted while looking into the last users of
update_errorfor #25084.The current anti windup handling just does nothing, it fetches
I, then it fetches it again.AC_PIDwill already handle anti windup correctly if we pass a limit flag.