I have a drone which flies with a rangefinder above ground at low altitude. If there is some obstacle on the ground I wouldn’t want the flight controller to react to this so (too strongly) I thought I’d limit the throttle (PILOT_SPEED_UP_CMD / DN_CMD)
I can’t lower my PID gains because that would damage my steady state performance.
My main issue is that when I lower the maximum throttle allowed I think the integrator starts accumulating and reach the ALT_MAXI.
I was thinking about implementing an anti-windup mechanism which freezes the integrator when the max command has been reached.
Is there a better idea how to cope with this issue?
Never mind. this is already there. my bad.