Apply suggestions from code review

christophfroehlich · saikishor · web-flow · commit 16e7dcdcfc54 · 2025-01-13T21:45:31.000+01:00
Co-authored-by: Sai Kishor Kothakota &lt;sai.kishor@pal-robotics.com&gt;
diff --git a/src/pid.cpp b/src/pid.cpp
@@ -90,15 +90,15 @@ void Pid::reset()
   cmd_ = 0.0;
 
   // If last integral error is already zero, just return
-  if (std::fabs(i_error_) < std::numeric_limits<double>::epsilon())
+  if (std::abs(i_error_) < std::numeric_limits<double>::epsilon())
   {
     return;
   }
 
   // Get the gain parameters from the realtime buffer
   Gains gains = *gains_buffer_.readFromRT();
   // Check to see if we should reset integral error here
-  if (!gains.save_iterm_) i_error_ = 0.0;
+  if (!gains.save_iterm_) clear_saved_iterm();
 }
 
 void Pid::clear_saved_iterm()

Original file line number	Diff line number	Diff line change
`@@ -90,15 +90,15 @@ void Pid::reset()`
`90`	`90`	`cmd_ = 0.0;`
`91`	`91`
`92`	`92`	`// If last integral error is already zero, just return`
`93`		`- if (std::fabs(i_error_) < std::numeric_limits<double>::epsilon())`
	`93`	`+ if (std::abs(i_error_) < std::numeric_limits<double>::epsilon())`
`94`	`94`	`{`
`95`	`95`	`return;`
`96`	`96`	`}`
`97`	`97`
`98`	`98`	`// Get the gain parameters from the realtime buffer`
`99`	`99`	`Gains gains = *gains_buffer_.readFromRT();`
`100`	`100`	`// Check to see if we should reset integral error here`
`101`		`- if (!gains.save_iterm_) i_error_ = 0.0;`
	`101`	`+ if (!gains.save_iterm_) clear_saved_iterm();`
`102`	`102`	`}`
`103`	`103`
`104`	`104`	`void Pid::clear_saved_iterm()`