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Added LeadLag controller #68

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Added LeadLag controller #68

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Continues #60

@progtologist progtologist mentioned this pull request Nov 30, 2017
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bmagyar
bmagyar requested changes Nov 30, 2017
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src/pid.cpp
@@ -400,9 +400,6 @@ double Pid::getCurrentCmd()

void Pid::getCurrentPIDErrors(double *pe, double *ie, double *de)
{
// Get the gain parameters from the realtime buffer
Gains gains = *gains_buffer_.readFromRT();
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I remember this frmo the previous PR. Reading the code suggests that really nothing happens here, right?

Could you please put this change into a different commit? It doesn't belong with the LeadLag stuff. Could still pass within the same PR as a minor fix.

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Fixed ;)

src/lead_lag.cpp
*/

#include <control_toolbox/lead_lag.h>
#include <tinyxml.h>
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Do we really need tinyxml here? Could you check if the PID class also needs it? I had a look today and it didn't seem so...

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Yes, I don't really know if anyone uses it, but it is part of the public API for the PID class as well here

bool initXml(TiXmlElement *config);

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bmagyar commented Nov 30, 2017

Don't worry about the test that's failing now, it's due to our source-based test that lacks dependencies on Lunar.

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@progtologist @bmagyar