Ki

Declared in ROEFormationControllerSoftware

Declaration

[Unit("Hz/s")]
Vector3 Ki;

Description

Integral gain vector (optional). Use to eliminate steady-state position error; Ki.Y (e.g. 2.5e-4) helps R-bar and V-bar holds reach the desired off-axis position. Use only on axes that need nulling (e.g. Y for R-bar hold); integral on the approach axis can wind up during the approach segment. Units: [1/s³].