Chief Delphi - Gyro PID Programming

Quote:

Originally Posted by Jefferson (Post 1225804)

So, get the input corrected to match the suggested range. This isn't just scaling or constraining, btw. You will need to add or subtract the extra turns if they are in there (fmod).

remainder(x,360) takes any angle and normalizes it to the range -180..+180. In other words, it finds the equivalent smallest-magnitude angle. fmod does not do this.

Once your angle is in the range -180..+180, you can simply divide it by 180 to put it in the range -1..+1 if you want.

If your C compiler does not have a remainder(x,y) function per per IEC 60559
as specified on Page 235 Section 7.12.10.2 of ISO/IEC 9899:TC3 ,
you can create your own as I showed in a previous post.