From be715234023e9f4c219d31c04e3b712250299110 Mon Sep 17 00:00:00 2001
From: Pascal <engelerp@phys.ethz.ch>
Date: Mon, 12 Jun 2023 16:13:56 +0200
Subject: [PATCH] Added sensible default value for I reset, this should be
exposed in the api
---
firmware/drivers/pid_controller/pid_controller.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/firmware/drivers/pid_controller/pid_controller.cpp b/firmware/drivers/pid_controller/pid_controller.cpp
index b19b34a..a5d77c5 100644
--- a/firmware/drivers/pid_controller/pid_controller.cpp
+++ b/firmware/drivers/pid_controller/pid_controller.cpp
@@ -22,7 +22,7 @@ double Pid_controller::output_=0.05; //output to LTC6992
std::vector<double> Pid_controller::pid_vec_ = {0., 0., 0.}; //current values of P I D
std::vector<double> Pid_controller::kpid_vec_ = {0., 0., 0.}; //coefficients Kp Ki Kd
double Pid_controller::I_reset_ = 0.; //reset value of I
-double Pid_controller::I_reset_errsq_ = 0.; //value of error*error above which the I-term is held in reset
+double Pid_controller::I_reset_errsq_ = 0.5; //value of error*error above which the I-term is held in reset
void Pid_controller::init(double setpoint, std::vector<double> kpid, double I_reset, double I_reset_errsq){
--
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