m4xw

> I didn't remove the PIDs of course. Just the code using the PID for cruising mode that I found on your pull request. Oh thats mandatory. If you set...

To do it with PID's and have the same behaviour you would need to calculate a arc from the pos, the target and the new waypoint and fly that and...


Also, relevant for this issue (#47), did you also fix when its running in the background? I had to move it to a EGL offscreen buffer so QGC stream works...

> When ascending I noticed the drone reduced velocity violently on the last inches. That happens when the integral is too big

reset is to prevent a overfit on the data (wind may change etc), so should be done periodically, the sweet spot i cant tell u.

also you absolutely have to reset when changing the pid values

> I believe we should reset explicitly the PID every time we change significantly the `setpoint` (target value). For example, when we receive a new GOTO command or when we...

ramp it up? Slight overshoots are normal pid behaviour tho, you just need to minimize on the start. Ofc this costs latency

> I don't think you'll get one. One thing I was wondering about is the question, if the freezes that can occur while playing Majora's Mask with DynaRec is fixed...