pid/external_saturation

A scenario of the PID controller, from tools/trace/scenarios/pid/external_saturation.cpp.

✓ pass

• The clang run (clang 18.1 optimized) matches the committed trace.
• The gcc run (gcc 13.3 optimized) matches the committed trace.

Shown on

These players show the same trace, with panels chosen to explain it:

• What happens when a downstream cut is not reported? (PID Deployment)

Every channel

pid/external_saturation: every channel 1× real time

response [0] [1]

setpoint setpoint

command [0] [1]

delivered [0] [1]

integral [0] [1]

t = 0.000 s / 5.000 s

Keys (with the player focused): Space play/pause · ← → one sample (Shift: ten) · Home/End · [ ] speed

5 s of the control/pid scenario external_saturation.cpp, 501 samples every 0.01 s. The panels plot every channel that changes: response, setpoint, command, delivered, integral. 4 events are marked. Pass criteria: BB-V1 reported_integral_vs_park_value <= 0.001.

1. t = 0.00 s setpoint 0.3, beyond the 0.2 the stage delivers
2. t = 2.00 s setpoint 0.1
3. t = 2.54 s reported: within 2 % from here, 0.54 s after the drop
4. t = 3.19 s not reported: within 2 % from here, 1.19 s after the drop

• ✓ passBB-V1 reported_integral_vs_park_value = 2.44e-4 (<= 0.001), computed by the scenario harness

Block control/pidScenario tools/trace/scenarios/pid/external_saturation.cppSeed 0dt_sim 0.001 s · dt_trace 0.01 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• delivery_limit = 0.2

All scenarios