In the tuning process, a negative value for the integral coefficient
was chosen. This gave better result in the ~2 min tuning cycles, but
then the accumulated error was reset before the next tuning cycle.
However, when running the vehicle for longer distances, this error
continue to increase since the tuning is made to prevent ever
exceeding the target velocity. Eventually, this negative coefficient
will make the vehicle go slower and slower.
As a temporary fix the integral coefficient is set to 0.
In the tuning process, a negative value for the integral coefficient was chosen. This gave better result in the ~2 min tuning cycles, but then the accumulated error was reset before the next tuning cycle. However, when running the vehicle for longer distances, this error continue to increase since the tuning is made to prevent ever exceeding the target velocity. Eventually, this negative coefficient will make the vehicle go slower and slower.
As a temporary fix the integral coefficient is set to 0.