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I'm sorry, I don't think I have any input on this. |
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Hello! I have question about integral calculation in "controller_pid.c".
I am designing the State-space equation in "controller_pid.c" below.
When I check the Crazyflie Client' Plotter, the result as follow:
In this situation, I expect that the "y_ref" should follow the "rollRateActual", but the result was not.
Is my integral calculation wrong? I want to solve this problem in "controller_pid.c".
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