Add new members for PID controller parameters #1585
Conversation
github-actions
bot
requested review from
arne48,
destogl,
LukasMacha97,
mamueluth,
mcbed,
progtologist and
saikishor
|
I set this as draft until we approved the control_toolbox PR. |
ViktorCVS
force-pushed
the
master
branch
2 times, most recently
from
403300b to
ed6de3d
Compare
Adds new members to PID controller parameters to support saturation and three new anti-windup features.
Replace the `subset_of` validator with `one_of` because `antiwindup_strategy` is a single string, not a string_array.
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #1585 +/- ##
=======================================
Coverage 86.18% 86.18%
=======================================
Files 123 123
Lines 11846 11846
Branches 992 992
=======================================
Hits 10210 10210
Misses 1333 1333
Partials 303 303
Flags with carried forward coverage won't be shown. Click here to find out more. 🚀 New features to boost your workflow:
|
There was a problem hiding this comment.
I know that this is not only related to this PR here, but I realize now that the saturation parameter is somehow superfluous: What do you think about initializing u_clamp with inf here, which will be std::numeric_limits<double>::infinity() and the clamping in the base class automatically deactivated? I don't see the benefit of adding an additional boolean parameter..
| type: double, | ||
| default_value: 0.0, | ||
| description: "Lower output clamp." | ||
| } | ||
| antiwindup: { |
There was a problem hiding this comment.
and this parameter got deprecated, right? Please add this also in the description here.
|
Sai is working on this in ros-controls/control_toolbox#390 |
Add new members to the PID controller parameters to support saturation and three new anti-windup features.
These changes support modifications made to the PID controller in the control_toolbox package. For more details, see ros-controls/control_toolbox#298.
If this PR is approved, it should be merged together with the main PR in the control_toolbox package referenced above.