Improved PID documentation #1387
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gemenerik
commented
Jun 26, 2024
gemenerik
commented
- Improved the explanation of the cascaded PID controller structure.
- Clarified the role of each control level (position, velocity, attitude, attitude rate) in the PID hierarchy.
- Detailed how different setpoints (not just position) activate corresponding PID controllers.
- Clarified that the position controller does not generate attitude setpoints directly.
- Clarified the function of the attitude rate controller, specifying that its output is not directly thrust.
- Documented the PID modification introduced in PID should avoid derivative kick #1336 to prevent derivative kick.
- Introduced a code comment regarding the prevention of derivative kick.
tobbeanton
reviewed
Jun 26, 2024
- Improved the explanation of the cascaded PID controller structure. - Clarified the role of each control level (position, velocity, attitude, attitude rate) in the PID hierarchy. - Detailed how different setpoints (not just position) activate corresponding PID controllers. - Clarified that the position controller does not generate attitude setpoints directly. - Clarified the function of the attitude rate controller, specifying that its output is not directly thrust. - Documented the PID modification introduced in #1336 to prevent derivative kick. - Introduced a code comment regarding the prevention of derivative kick.
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knmcguire
approved these changes
Jul 23, 2024
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