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auv_control::PIDController.yml
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--- name:default
# Defines if the derivative will be applied to the error or to the output in the PID controller
apply_derivative_to_error: false
# This property defines which parts of the command input is expected to be
# set once we merged all the declared input ports.
expected_inputs:
linear:
- true
- true
- true
angular:
- true
- true
- true
# If true, the component will send a zero command before getting into an
# exception state. Otherwise, it will not do anything
keep_position_on_exception: false
# If true write NaN on all axis, in keep position case
nan_on_keep_position: false
# Parallel Settings for the PID controllers
parallel_pid_settings:
linear:
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
angular:
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
Kp: 0.0
Ki: 0.0
Kd: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
# Ideal Settings for the PID controllers
pid_settings:
linear:
- Ts: 0.0
K: 2.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
K: 1.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
K: 1.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
angular:
- Ts: 0.0
K: 1.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
K: 1.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
- Ts: 0.0
K: 1.0
Ti: 0.0
Td: 0.0
N: 0.0
B: 1.0
Tt: -1.0
YMin: 0.0
YMax: 0.0
# The command domain (true:position or false:velocity)
position_control: true
# This property defines the safty behavior ath the merging of the input-ports.
# If the property is on true (default) the merged command need to be like in
# the expected_inputs property defined. Else the expected_inputs are ignored
# while the merged comand are unic.
safe_mode: true
# This property defines the timeout for the cascade input port in seconds. 0
# means that the timeout would be ignored.
timeout_cascade:
microseconds: 1000000
# This property defines the timeout for the cmd_in input port in seconds. 0
# means that the timeout would be ignored.
timeout_in:
microseconds: 1000000
# Use the Ideal (false) or Parallel PID-Settings
use_parallel_pid_settings: false
# Under this Value the axis are not controled. Output is 0.
variance_threshold: .inf
# The command frame (true:world or false:aligned)
world_frame: false