That rules out corrupted block data. Given the relative steadiness of the updates/second metric, it doesn’t appear to have suffered from controller hangups either.
Could you please post the graph for your Setpoint? This will include both filtered and unfiltered values, and will clarify if filter resets are involved.
Thanks! With this, we can rule out setpoint filtering.
We’ve taken a look at the PID algorithm. For some of the scenarios where it completely resets the integral, a gradual decrease would be more appropriate.
We’re not 100% certain this will solve your issue, but the change will be included in the next release.
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