From d4e79c89375e7a14c4a107f31795e02a8e272566 Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Thu, 7 Feb 2019 18:31:17 +0100
Subject: [PATCH] pidcontroller: fixed conditionIntegralErrorThreshold
---
source/RobotAPI/libraries/core/PIDController.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 5263bb561..c9f70d3db 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -129,7 +129,7 @@ void PIDController::update(double deltaSec, double measuredValue, double targetV
// ARMARX_INFO << deactivateSpam() << VAROUT(dt);
if (!firstRun)
{
- if (error < conditionalIntegralErrorTreshold)
+ if (std::abs(error) < conditionalIntegralErrorTreshold)
{
integral += error * deltaSec;
integral = math::MathUtils::LimitTo(integral, maxIntegral);
--
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