sbright33:
Ideas for improvement?
In the pseudo-code you seem to be controlling the timing by a fixed delay(dt) and then assuming that the sample interval is dt. Firstly I'd suggest using the actual loop interval in your calculation (either by explicitly controlling the loop interval, or by measuring it). Secondly, I'd have thought that reducing the sample interval would reduce the integration errors which suggests it might be desirable to run this control loop as fast as possible.