Use only filtered error in P I D calculations

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

130 stars 37 forks source link

Use only filtered error in P I D calculations #69

Open cesar-lopez-mar opened 2 years ago

cesar-lopez-mar commented 2 years ago

Currently the filtered error is used in the P and D calculations but the raw error is used in the I calculation. All of them should use the filtered one.

Timple commented 2 years ago

Let's await outcome of #93 before implementing this