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[pid] Add documentation to fields #173

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Merged
merged 1 commit into from
Mar 10, 2025
Merged

[pid] Add documentation to fields #173

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15 changes: 15 additions & 0 deletions control_msgs/msg/PidState.msg
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Original file line number Diff line number Diff line change
@@ -1,13 +1,28 @@
std_msgs/Header header
builtin_interfaces/Duration timestep

# error = target - state
float64 error
# derivative of error
float64 error_dot

# equals error
float64 p_error
# weighted integral of error
float64 i_error
# equals derivative of error
float64 d_error

# proportional gain
float64 p_term
# integral gain
float64 i_term
# derivative gain
float64 d_term
# upper integral clamp.
float64 i_max
# lower integral clamp.
float64 i_min

# output of the PID controller
float64 output