Perhaps the PI anti-windup change could be re-visited. When the output is
clamped and anti-windup is active, at xmlauto.cxx:625, the line:
int_sum = clamped_output - prop_comp;
seems to introduce the Kp, proportional gain factor, into the integral
sum. With the proportional gain much bigger than Ki the integral part and
proportional part
effectively cancel after this, with the result: output close to zero.
Replacing that with :
if( output != clamped_output ) // anti-windup
// int_sum = clamped_output - prop_comp;
int_sum -= error * Ki.get_value() * dt;
.. seems to restore altitude hold to at least the B777 although I don't
know if that's the optimal correction to the integral term during output
clamping. Thanks.
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