Heading Bank Controller

Input: Target heading

Output: Target Roll angle

Default usage is as a P Controller with a very small amout of integral action to allow error to be zeroed.

Important Values

Hdg Kp: The amount of roll angle per degree of heading error

Hdg Min/Max Out: The maximum roll angle target in each direction

Hdg Clamp Upper/Lower: The maximum angle target contribution from the integral component (Ki)

Maximum roll angle will be targetted when:
Heading_Error >= (Hdg Min/Max Out) / (Hdg Kp)
With default values (min/max = 30, Kp = 3), this rollout angle will occur at 10 degrees of error