PID_ATune::Runtime() does not check that outputStart-oStep is greater than or equal to the minimum possible value for output, nor that outputStart+oStep is less than or equal to the maximum possible value for output.
Where these boundaries are exceeded it is likely that Ku is overestimated because the actual changes in *output are less than +/- oStep.
PID_ATune::Runtime() does not check that outputStart-oStep is greater than or equal to the minimum possible value for output, nor that outputStart+oStep is less than or equal to the maximum possible value for output.
Where these boundaries are exceeded it is likely that Ku is overestimated because the actual changes in *output are less than +/- oStep.