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| Code Block |
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Diff = (dTheta*Tau*OldDiff)/(Tau+dT) Differential portion of rudder output = Kd*Diff |
The integral limit is applied before Ki. Hence max integral rudder command is Ki*IntegralLimit.
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