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Fix integral action for AntiWindupStrategy::NONE #432

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Merged
christophfroehlich merged 4 commits into from
Jul 21, 2025
Merged

Fix integral action for AntiWindupStrategy::NONE #432

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b71250c
Fix wrong warning
christophfroehlich Jul 21, 2025
31dfafc
Fix typo
christophfroehlich Jul 21, 2025
20898d4
Activate integration with AntiWindupStrategy::None
christophfroehlich Jul 21, 2025
b625812
Fix legacy behavior
christophfroehlich Jul 21, 2025
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2 changes: 1 addition & 1 deletion control_toolbox/include/control_toolbox/pid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ struct AntiWindupStrategy
"{})",
i_min, i_max));
}
if (std::isfinite(i_min) || std::isfinite(i_max))
if (type != LEGACY && (std::isfinite(i_min) || std::isfinite(i_max)))
{
std::cout << "Warning: The i_min and i_max are only valid for the deprecated LEGACY "
"antiwindup strategy. Please use the AntiWindupStrategy::set_type() method to "
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7 changes: 6 additions & 1 deletion control_toolbox/src/pid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,7 @@ bool Pid::set_gains(const Gains & gains_in)
std::string error_msg = "";
if (!gains_in.validate(error_msg))
{
std::cerr << "PID: Invalid gains: " << error_msg << ". SKipping new gains." << std::endl;
std::cerr << "PID: Invalid gains: " << error_msg << ". Skipping new gains." << std::endl;
return false;
}
else
Expand Down Expand Up @@ -417,6 +417,11 @@ double Pid::compute_command(double error, double error_dot, const double & dt_s)
i_term_ += dt_s * gains_.i_gain_ * error;
}
}
else if (gains_.antiwindup_strat_.type == AntiWindupStrategy::NONE)
{
// No anti-windup strategy, so just integrate the error
i_term_ += dt_s * gains_.i_gain_ * error;
}
}

return cmd_;
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