RedOnion

[WIP] Autopilot.PIDs

Set of PID(R) controllers used by the autopilot. Simple PI-regulator with small I would do (some non-zero I is needed to eliminate final offset, especially for roll) as these are used to modify raw controls (-1..+1). Other parameters were itegrated, the most important probably being strength which determines how aggressive the autopilot is.

Instance Properties:

• pitch: PidParams - Pitch control PID(R) parameters.
• yaw: PidParams - Yaw control PID(R) parameters.
• roll: PidParams - Roll control PID(R) parameters.
• P: double - Proportional factor (strength of direct control) for all three angles (NaN if not same).
• I: double - Integral factor (dynamic error-correction, causes oscillation as side-effect) for all three angles (NaN if not same).
• D: double - Derivative factor (dampening - applied to output, reduces the oscillation) for all three angles (NaN if not same).
• R: double - Reduction factor for accumulator for all three angles (NaN if not same;dampening - applied to accumulator used by integral factor, works well against both oscillation and windup).
• strength: double - Common strength/aggressiveness of control (NaN if not same`).