Hello, i am building a 3dof helicopter standpoint, maybe could you help me ? I got problem with PID regulator, when pitch angle reach 0 value (its a setpoint), output form regulator sets PWM to 0 too. As a result i got oscilation all the time and cant stabilize helicopter. I think about 2 states of regulator, first to start and second to stabilize with seted output limits on some PWM value. How do you solved taht problem ?