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… wind-up still seems to be an issue, and previous efforts could not be ammended due to self-inflicted code bloat. PID now has a better way of tracking output variable, such that Anti-windup (back-calculation method) can be applied easily within the struct (no duplicated external implementations). Also the Swede's had a nice idea, so I implemented that option too (clegg). No clue if it hurts system stability though. Notably, this implementation uses a lot of floats, so a standard methodology of converting floats to ubytes should probably be written (in a separate file as to be universally used) to have an easy way of dealing with outputing info on CAN.
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prototype for reworking pid.c/.h file entirely. done because integral wind-up still seems to be an issue, and previous efforts could not be ammended due to self-inflicted code bloat. PID now has a better way of tracking output variable, such that Anti-windup (back-calculation method) can be applied easily within the struct (no duplicated external implementations). Also the Swede's had a nice idea, so I implemented that option too (clegg). No clue if it hurts system stability though. Notably, this implementation uses a lot of floats, so a standard methodology of converting floats to ubytes should probably be written (in a separate file as to be universally used) to have an easy way of dealing with outputing info on CAN.