Controller state doesn't need to be reset on reconfigure

[Rayman]

The controller can be reconfigured while driving. If the controller is also reset, then the D and I action are reset to 0, and the lowpass starts from scratch. This is unwanted behavior.

path_tracking_pid/src/controller.cpp

Line 978 in ff653a6

controller_state_.error_lat.reset();

[Timple]

Should the values also be kept if the D, I or cutoff parameters are changed?

[Rayman]

Yes, the integrator filter contains basically the integrated value of the signal. That won't change if you reconfigure the I parameter

[Timple]

So if I reconfigure the I action to zero. I will keep having the previous value?

[Rayman]

The integrated value stays the same. That value will be multiplied with the I action (which is then 0) so it will add 0 to the PID sum

[Timple]

Great, sorry for asking instead of checking 🙂
I was wondering if the integrated value was pre- or post-multiplied.