Integral windup #43
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Integral windup #43
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This is addressed in #38, in addition to adding a param to toggle the antiwindup behaviour. |
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Thanks for the contribution, we have addressed this in the ROS Kinetic version! |
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i think we should limit i_error_ for preventing i_term to go out of bounds, if we just limit i_term, i_error can increase over time and cause a lag to PID respond. :)