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Improve antiwindup description #1502

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Improve antiwindup description #1502

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9 changes: 6 additions & 3 deletions pid_controller/src/pid_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -63,17 +63,20 @@ pid_controller:
antiwindup: {
type: bool,
default_value: false,
description: "Antiwindup functionality."
description: "Antiwindup functionality. When set to true, limits
the integral error to prevent windup; otherwise, constrains the
integral contribution to the control output. i_clamp_max and
i_clamp_min are applied in both scenarios."
}
i_clamp_max: {
type: double,
default_value: 0.0,
description: "Upper integral clamp. Only used if antiwindup is activated."
description: "Upper integral clamp."
}
i_clamp_min: {
type: double,
default_value: 0.0,
description: "Lower integral clamp. Only used if antiwindup is activated."
description: "Lower integral clamp."
}
feedforward_gain: {
type: double,
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