Error mapping function implementation

m-lundberg / simple-pid

A simple and easy to use PID controller in Python

MIT License

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Error mapping function implementation #19

Closed angel-ayala closed 4 years ago

angel-ayala commented 4 years ago

The Integral values is miss-calculated, first the integral is applied to the error (accum the error values) and then is applied the gain Ki value.

Additionally an error mapping function is implemented to transform the error in another set of values, implemented in first place for a yaw angle control of a quadcopter

m-lundberg commented 4 years ago

Hello @angel-ayala !

It's been a while since I heard from you. Are you still interested in moving forward with this pull request?

angel-ayala commented 4 years ago

Hi @m-lundberg, Yes I'm interested, I have been a busy right now, but I'll make some space during this week to do it. Sorry for keeping this request open.

angel-ayala commented 4 years ago

All merge test were ok @m-lundberg sorry for the delay.

m-lundberg commented 4 years ago

And now it's merged. Thanks a lot for your contribution!