IMU heater tuning for type C exposed to open air #2
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Improved type C IMU heater tuning to avoid massive overshoot on startup and reduce oscillations at steady-state. While unable to get a perfect flatline due to poor resolution of the temperature sensor, startup is tuned and you can get a decent calibration about 10s after startup and a good calibration at 30s after startup. I tested the IMU exposed to open air (without a jetson dumping heat onto it).
Removed derivative control from IMU heater due to it being a first order system. Added integral control to the system to eliminate steady-state error and added anti-windup to the modm PID controller because anti-windup is absolutely required for this to work.
Prior to tuning:
After tuning: