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The goal is to have a PID controller class that can be used by multiple managers (although will be used by attitude manager at first), each object of the class will calculate their own integral & derivative terms being independently, also the PID’s will update at the same fixed frequency, so that derivative and integral calculations work properly. By having one PID instance per axis rather than one per motor the output will be cleaner and more consistent. When the PID does its computations to output, it will calculate it’s own derivative and integral values. The PID will be implemented in the PID.hpp and PID.cpp files in the Attitude Manager Folder, updating/replacing the previous PID controller.
Laslty, the PID will also need to utilize the input-map to be able to convert angles/rates into motor % when outputting. Meaning the PID input and target point will be angles/rates, however it will convert the angle/rate to a motor % before outputting so that the motor can adjust to reach the desired set point.
Fixed Time Frequency Updating:
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