The original problem is, when there is an input change from 0 to
u_max/kp, the output value is zero. This is wrong. It has to be u_max.
The fix from Erik was also my first approach. But it does not solve the
problem. Under some circumstances the controller stays in saturation for
ever.
I think, my solution solves the problem, but it would be great, if
Jeff is also able to test it.
Hans-Georg
Curtis L. Olson wrote:
I seem to recall Erik commited a change to the autopilot code in the
last week or so. Does that fix something? Did that introduce a new
problem? This is pretty subtle, complex code so people shouldn't be
messing with it too much unless they are really sure they know what's
going on with it.
Curt.
snip--
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