vazgriz / pid_controller Goto Github PK

There seems to be an issue in the PIDController.cs on line 79:

The errorLast value immediately gets set to the current error value, basically eliminating the derivative completely. Deleting this line should fix the issue.

Also - i feel like UpdateAngle should just call Update using the remapped angles, saving duplicate code, no?

Thanks for the script and video explanation, great stuff!

First off - thanks for the clean implementation and fantastic article. It helped clear up a lot of things for me.

I have noticed a small issue with the update however. When calculating the derivative, it doesn't wait for the first value to be set before calculating the rate of change, meaning the first update will always be (current - 0) / dt.

I've updated my local copy to only calculate D after at least one update has been called so it has a point of reference, and that seems to have done the trick