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Autopilot configuration reference: Difference between revisions
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→PI controller <pi-simple-controller>
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== PI controller <pi-simple-controller> == | == PI controller <pi-simple-controller> == | ||
This controller implements a PI controller. Other than the PID controller, it computes absolute output values, regardless of the value of the output property. It can by configured as an I-only, P-only or PI-controller. It has anti windup logic if <syntaxhighlight lang="xml" inline><min></syntaxhighlight> and <syntaxhighlight lang="xml" inline><max></syntaxhighlight> elements are present. | This controller implements a PI controller. Other than the PID controller, it computes absolute output values, regardless of the value of the output property. It can by configured as an I-only, P-only or PI-controller. It has anti windup logic if <syntaxhighlight lang="xml" inline><min></syntaxhighlight> and <syntaxhighlight lang="xml" inline><max></syntaxhighlight> elements are present. Note that the error computation is '''reversed''', and is computed as input-reference. | ||
The xml element creating a PI controller is <syntaxhighlight lang="xml" inline><pi-simple-controller></syntaxhighlight> | The xml element creating a PI controller is <syntaxhighlight lang="xml" inline><pi-simple-controller></syntaxhighlight> | ||
Legal elements are: | Legal elements are: | ||