Yes. And it is true there probably should be an initialization capability for filters, integrators, etc. I'll try and look into this very soon.
How about adding a new flight control component: "PID controller"?! I've been searching my textbooks on control systems and found a few PID controller algorithms. I could begin to implement one that takes care of the integrator windup problem and has some other usefull features.
-- Roy Vegard Ovesen
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