Add missing input_pos_updated call on transition to closed loop

2026-09-21 15:34:33 +08:00 · 2020-07-31 15:35:05 -04:00
parent 9bf5a8df85
commit d996f02df1
1 changed files with 1 additions and 0 deletions
@@ -303,6 +303,7 @@ 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_;
+    controller_.input_pos_updated();

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