Remove legacy and deprecated PID parameters #1845
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Remove legacy and deprecated PID parameters from the pid_controller package. Also update the expected command values in the tests to reflect the correct calculations based on the current PID implementation.
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bot
requested review from
bmagyar,
DasRoteSkelett,
mamueluth,
mcbed,
mhubii,
moriarty and
saikishor
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Did the tests pass for you locally? There seems to be numerical inconsistencies now |
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these come from the change of backward to forward integration of the integral action, we are discussing this in the upstream pr |
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Overview
Remove legacy and deprecated PID parameters from the pid_controller package. Also update the expected command values in the tests to reflect the correct calculations based on the current PID implementation.
What was added/changed in this PR
About tests
The packages compile correctly and have passed the pre‑commit and colcon tests.
About change in tests
Three test files were modified. In addition to the updates required by the removal of the legacy anti-windup strategy, some tests now include integral action with forward calculation.
Related PR's
Final notes
I'm very open to any recommendations to improve this code.