Todo List

Member IPDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Member IPFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Class labust::control::ConfigureAxesPolicy

Reverse the disable/enable axes logic at one time ?

Class labust::control::FADPControl

add tracking support

add tracking support

Class labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >

Add windup type. Convert into template. EnablePolicy add service, topic option selection.

Consider joining the windup type and output type - this will require republishing of windup up the cascade ?

Class labust::control::VelocityControl

Create the merge subclass for velocity controller via external TAU

Implement the modes (manual, external(control), disable, tracking)

Switch to vector operation rather than repeated statements

Add model retuning

Separate dynamic reconfigure option to optional subclass

Remove other modes

Remove everything related to identification and replace it via the merger

Deprecate measurements subscription

Reduce the internal tauAch code calculation

Switch velocity controller to async mode ?

Add feed forward for disturbances ?

Member labust::control::VelocityControl::handleEstimates (const auv_msgs::NavSts::ConstPtr &estimate)

Check if this is needed ?

Member PIDBase

Use doxygen grouping and reduce size

Document difference between auto-windup and ext-windup

Rename lastError, lastState to yk_1, ek_1,ek_2 etc.

Member PIDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Member PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w, float a=1.5)

Document the binomial autotuning (pole-placement)

Member PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w, float a=1.5)

Document the binomial autotuning (pole-placement)

Member PIFF_wffStep (PIDBase *self, float Ts, float error, float perror, float ff)

Deprecate windup sign ?