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The goal, is have all the PID controllers for an axis update at the same frequency, all axis do not necessarily have to update at the same frequency but the PID controllers of the same axis should. This will be implemented using freeRTOS where, the wrapper class will have an update method in which it uses the tasks and vTaskDelayUntil function from freeRTOS inside the PID update function, to ensure that the roll or /yaw PIDs controllers update at the same at a fixed frequency.