Thomas Gubler be9b58e1b9 re-adding pid limitation

2012-11-05 20:22:00 +01:00

..

pid.c

re-adding pid limitation

2012-11-05 20:22:00 +01:00

pid.h

Changes to the PID controller. Adds "limit" to the parameter set. Implements an output limit where the output magnitude is limited by the parameter value "limit". Also changes the integrator saturation such that the integrator is not updated (added to) if either updating it will cause the integrator values magnitude to exceed "intmax" or if the output magnitude would exceed "limit" with an updated integrator value.

2012-10-07 14:46:26 -06:00