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Deprecate and Remove Parameters
The saturation parameter has been removed, and the anti-windup parameter, along with i_clamp_max and i_clamp_min—has been marked as deprecated. Additionally, the default saturation bounds have been updated to positive and negative infinity.
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pid_controller/src/pid_controller.yaml

Lines changed: 5 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -60,39 +60,33 @@ pid_controller:
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default_value: 0.0,
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description: "Derivative gain for PID"
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}
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saturation: {
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type: bool,
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default_value: false,
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description: "Enables output saturation. When true, the controller output is
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clamped between u_clamp_max and u_clamp_min."
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}
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u_clamp_max: {
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type: double,
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default_value: 0.0,
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default_value: .inf,
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description: "Upper output clamp."
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}
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u_clamp_min: {
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type: double,
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default_value: 0.0,
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default_value: -.inf,
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description: "Lower output clamp."
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}
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antiwindup: {
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type: bool,
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default_value: false,
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description: "Anti-windup functionality. When set to true, limits
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description: "[Deprecated, see antiwindup_strategy] Anti-windup functionality. When set to true, limits
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the integral error to prevent windup; otherwise, constrains the
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integral contribution to the control output. i_clamp_max and
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i_clamp_min are applied in both scenarios."
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}
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i_clamp_max: {
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type: double,
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default_value: 0.0,
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description: "Upper integral clamp."
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description: "[Deprecated, see antiwindup_strategy] Upper integral clamp."
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}
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i_clamp_min: {
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type: double,
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default_value: 0.0,
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description: "Lower integral clamp."
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description: "[Deprecated, see antiwindup_strategy] Lower integral clamp."
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}
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antiwindup_strategy: {
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type: string,

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