Fix avoid transients at startup

2026-09-23 00:59:54 +08:00 · 2020-01-01 21:38:17 -05:00
parent 4ee55aaed4
commit 62654ed966
1 changed files with 1 additions and 0 deletions
@@ -319,6 +319,7 @@ bool Axis::run_closed_loop_control_loop() {

    // To avoid any transient on startup, we intialize the setpoint to be the current position
    controller_.pos_setpoint_ = *controller_.pos_estimate_src_;
+    controller_.input_pos_ = *controller_.pos_estimate_src_;

    // Avoid integrator windup issues
    controller_.vel_integrator_current_ = 0.0f;