The trajectory follower uses a nominal PID controller to control to the desired positions. If the setpoint is too large, it results in a large error, which can produce undesireable behavior (e.g. large commanded output angles).
The down loop already has the down_command_window parameter. We should probably also add a window for the north and east positions as well so that we can control the maximum input control amplitude.
The trajectory follower uses a nominal PID controller to control to the desired positions. If the setpoint is too large, it results in a large error, which can produce undesireable behavior (e.g. large commanded output angles).
The down loop already has the
down_command_windowparameter. We should probably also add a window for the north and east positions as well so that we can control the maximum input control amplitude.