[PID] Add support for saving i-term when PID is reset #180
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Added save_iterm_ to PID gains Added save_iterm() and clear_saved_iterm() methods to update and clear save integral term Cleared saved integral term in constructor Called save_iterm() in reset() method Added saved integral term to PID output
Simplified saving of integral term
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
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christophfroehlich
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Apr 4, 2024
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Saves integral term on reset to maintain steady state offset output.
This is required for controlling of system without integral part to achieve correct steady-state output.
If intergral term is reset for some time there will be incorrect output in steady-state. This features avoids such situations and makes btter performance.