Add new members for PID controller parameters #1585
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LukasMacha97,
arne48,
destogl,
mamueluth,
mcbed,
progtologist and
saikishor
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I set this as draft until we approved the control_toolbox PR. |
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.
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christophfroehlich
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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..
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Sai is working on this in ros-controls/control_toolbox#390 |
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.
saikishor
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I suggested some changes based on the upcoming changes of
ros-controls/control_toolbox#400
Co-authored-by: Sai Kishor Kothakota <[email protected]>
christophfroehlich
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Another update. I'll open a similar PR with changes to JTC soon.
Nice! There are something more I can change in this PR? |
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Could you please add release_notes similar to #1759? Then everything is fine I think |
Simplified the PID controller section in doc/release_notes.rst by adding support for u_clamp_max and u_clamp_min output limits, deprecating the old antiwindup flag and i_clamp_max/i_clamp_min in favor of a more flexible antiwindup_strategy and introducing tracking_time_constant and error_deadband.
After merging this PR, I’ll open a new one in control_toolbox to remove the old anti-windup technique, right? |
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I had to fix some pre-commit errors, and added explicit migration notes.
Let us fix ros-controls/control_toolbox#156 first, then we remove all deprecations at once. |
christophfroehlich
merged commit aebe6b1
into
ros-controls:master
(cherry picked from commit aebe6b1) # Conflicts: # doc/migration.rst # doc/release_notes.rst
Co-authored-by: Victor Coutinho Vieira Santos <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]>
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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.