flight: pid refactor: move dt to configuration time #1906
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No longer allow time to vary from timestep to timestep. This doesn't do much right now, but it's for two upcoming reasons-- to allow precomputing the derivative filter, and to allow precomputing a leaky integral.
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In support of #1747 |
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(also one other note-- it seems some of the stabilization rate loops were using dT instead of dT_expected, so it's a minor bug fix for those cses). |
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No longer allow time to vary from timestep to timestep. This doesn't do
much right now, but it's for two upcoming reasons-- to allow
precomputing the derivative filter, and to allow precomputing a leaky
integral.