Hi guys,I'm spending some time to study the code, and I came across this line in the control file:roll_Integrator+= (float)(((float)PID_error*((float)dt/1000.0))*(float)ki[0]);under PID_roll function. my question is - why devide dt by 1000? - *((float)dt/1000.0))*Is it instead of using small ki[0] values? or is there a deeper meaning?By the way, thanks allot! I am having so much fun flying and studying my new Ardupilot!!
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