fix(pid_longitudinal_controller): change pid structure with respect to design #5080
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Signed-off-by: Berkay Karaman <[email protected]>
…o design Signed-off-by: Berkay Karaman <[email protected]>
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Description
As you can see in the design of the package, the low pass filtered velocity error is only used in the calculation of the derivative output of PID. However, in code, P, I, and D are calculated by using filtered velocity error.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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