All notable changes to this project/module will be documented in this file.
The format is based on Keep a Changelog, and this project/module adheres to Semantic Versioning.
- PID controller written to be used as instance
- Dual init option: dynamically and statically
- Fully configurable in runtime
- Support for derivative on measurement (no setpoint kick).
- Optional low-pass filter (LPF) for derivative term with configurable cutoff frequency.
- Feed-forward input included in the control law.
pid_set_d_lpf_fc()API to adjust derivative LPF cutoff at runtime.- New API functions for min/max setters:
pid_set_min(),pid_set_max(). - Telemetry accessors for P/I/D parts:
pid_get_p_part(),pid_get_i_part(),pid_get_d_part().