From 0b984d08ec9b64125737611e914f729faf6e9134 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Thu, 16 Oct 2025 19:36:35 +0200 Subject: [PATCH] Add test for trc if i-gain is zero (#526) (cherry picked from commit b7ad2d723c64964fbfd550cd183c151cb65ed526) --- control_toolbox/test/pid_tests.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/control_toolbox/test/pid_tests.cpp b/control_toolbox/test/pid_tests.cpp index de2fb680..97794e28 100644 --- a/control_toolbox/test/pid_tests.cpp +++ b/control_toolbox/test/pid_tests.cpp @@ -213,6 +213,10 @@ TEST(ParameterTest, integrationBackCalculationZeroGainTest) double cmd = 0.0; double pe, ie, de; + // with i_gain = 0, tracking_time_constant should not be calculated + auto gains = pid.get_gains(); + EXPECT_DOUBLE_EQ(gains.antiwindup_strat_.tracking_time_constant, 0.0); + // back_calculation cmd = pid.compute_command(-1.0, 1.0);