Differential: Fix PID implementation and adjust speed setpoint based on yaw rate setpoint #23928
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sfuhrer
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Nov 12, 2024
chfriedrich98
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This will instread be fixed with the new PID library in #23931 |
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Solved Problem
This PR address these 2 problems:
The integral limits are implemented wrong due to the fact that the limit is taken prior to the multiplication with$k_i$ . To fix this the integral limits need to be divided by $k_i$ .
The controller prioritizes yaw rate over forward speed. A high yaw rate setpoint can therefor make the forward speed setpoint infeasible due to actuator limitations. This leads to the integrator of the speed controller to build up. This can be fixed by adjusting the speed setpoint based on the amount of control effort that is “occupied” by the yaw rate setpoint.
Test coverage