PidAntiWindupType

Namespace

ZCore

Fields

IntegralLimitation = 0

Limits the integral part and Output of the PID with the limits configured with EnableAntiWindup, but keeps integrating when the output is in saturation. This anti-windup method is kept for compability, in practice a different method should be used to improve timing when getting into saturation.

ConditionalClamping = 1

Limits the Output of the PID and only integrates if the output is not saturated or the the integration improves improves the offset.