[PID] Add support for saving i-term when PID is reset #180
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Added save_iterm_ to PID gains Added save_iterm() and clear_saved_iterm() methods to update and clear save integral term Cleared saved integral term in constructor Called save_iterm() in reset() method Added saved integral term to PID output
Simplified saving of integral term
Co-authored-by: Dr. Denis <[email protected]>
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christophfroehlich
requested changes
Apr 4, 2024
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## ros2-master #180 +/- ##
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+ Coverage 74.88% 75.41% +0.53%
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Files 24 24
Lines 1107 1135 +28
Branches 86 89 +3
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+ Hits 829 856 +27
Misses 231 231
- Partials 47 48 +1
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christophfroehlich
previously approved these changes
Jan 11, 2025
This reverts commit 92f7d6f.
christophfroehlich
approved these changes
Jan 11, 2025
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Saves integral term on reset to maintain steady state offset output.
This is required for controlling of system without integral part to achieve correct steady-state output.
If intergral term is reset for some time there will be incorrect output in steady-state. This features avoids such situations and makes btter performance.