Update PIDController.cpp #21
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Added Failsafe to return unchanged calculation to prevent divsion by 0 what results in NaN Added Adaptive Ki factor to stabilize the controller at higher sensor values
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Added Failsafe to return unchanged calculation to prevent divsion by 0 what results in NaN
Added Adaptive Ki factor to stabilize the controller at higher sensor values
Please correct line 70 to: aKiDivisor = newFactor;