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Yaw gains and limit can be updated after the fact using the MOOS variables:
YAW_PID_KP
YAW_PID_KD
YAW_PID_KI
YAW_PID_INTEGRAL_LIMIT
New process config options are also available for the speed control. First, the type of controller must be set using the SPEED_CONTROLLER config variable. Options are "factor", "pid", and "fit_pid". The first two are unchanged from the original speed factor and pid control methods. The fit_pid option uses a linear fit to determine the rough thrust for a given speed request, while a PID is used to provide a correction on top of that fit. The following additional config variables must be set:
SPEED_SLOPE
SPEED_OFFSET
ANGLE_LIMIT
TIME_DELAY
Slope and offset determine the linear fit according to the equation:
| Code Block |
|---|
Thrust = SPEED_SLOPE*speed + SPEED_OFFSET |
The PID is only run when heading has been within ANGLE_LIMIT of the desired heading for at least TIME_DELAY seconds. Even when the PID is not running, the last output of the PID will still be added to the thrust determined by the fit.