farol_msgs/mPidDebug Message
Raw Message Definition
# PID debug message
# Header information
Header header
# Controller in use
string controller
# Reference
float64 ref
# Reference derivative
float64 ref_d
# Reference derivative filter
float64 ref_d_filtered
# Actual state value
float64 state
# Error between ref and actual state value
float64 error
# Error saturated
float64 error_saturated
# Feed forward term
float64 ffTerm
# Feed forward derivative term
float64 ffDTerm
# Feed forward drag term
float64 ffDragTerm
# Proportional term
float64 pTerm
# Integral Term
float64 iTerm
# Derivative Term
float64 dTerm
# Actual value
float64 output
Compact Message Definition
[std_msgs/Header] header
string controller
float64 ref
float64 ref_d
float64 ref_d_filtered
float64 state
float64 error
float64 error_saturated
float64 ffTerm
float64 ffDTerm
float64 ffDragTerm
float64 pTerm
float64 iTerm
float64 dTerm
float64 output
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Last update:
October 28, 2022