duty_cycle control vs current_control

[fessyfoo]

@fessyfoo

I found this to be a decent intro on PID.

What Is PID Control? | Understanding PID Control, Part 1

and I’m assuming from your post and other stuff that “speed PID” settings in vesc when in current control mode mean the controlled variable is the target current. but i’m unsure if that’s right. given “speed” in the name.