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Add test for trc if i-gain is zero (backport #526) #529

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Oct 16, 2025
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Add test for trc if i-gain is zero (backport #526) #529

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4 changes: 4 additions & 0 deletions control_toolbox/test/pid_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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