The current control system code (control-system/src/control-system.ino) may not work correctly. I suspect gains for the PI controller are not fully tuned. The loop's frequency is not controlled, its probably best to limit it to around 10hz. There is no need to read the GPS every time round the loop, once every 10 seconds should be more than enough.
The current control system code (control-system/src/control-system.ino) may not work correctly. I suspect gains for the PI controller are not fully tuned. The loop's frequency is not controlled, its probably best to limit it to around 10hz. There is no need to read the GPS every time round the loop, once every 10 seconds should be more than enough.