pid/terms

A scenario of the PID controller, from tools/trace/scenarios/pid/terms.hpp.

✓ 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 does a proportional controller alone do to a height? (How the PID Controller Works)
• What does damping add, and what does it leave? (How the PID Controller Works)
• How does the integral remove the offset? (How the PID Controller Works)
• Does the PD loop settle at the closed-form offset? (PID V&V Plan)

Every channel

pid/terms: every channel 1× real time

height [m] [0] [1] [2]

command [m/s²] [0] [1] [2]

integral [m/s²] integral

t = 0.000 s / 10.000 s

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

10 s of the control/pid scenario terms.hpp, 501 samples every 0.02 s. The panels plot every channel that changes: height, command, integral. 1 events are marked. Pass criteria: BB-V1 pd_height_error_vs_closed_form_offset <= 0.001 m; BB-T1 pid_steady_state_error <= 0.001 m.

1. t = 0.00 s setpoint 1 m; the vehicle is 3 m/s² heavier than the controller believes

• ✓ passBB-V1 pd_height_error_vs_closed_form_offset = 1.22e-14 m (<= 0.001), computed by the scenario harness
• ✓ passBB-T1 pid_steady_state_error = 2.22e-4 m (<= 0.001), computed by the scenario harness

Block control/pidScenario tools/trace/scenarios/pid/terms.hppSeed 0dt_sim 0.001 s · dt_trace 0.02 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• setpoint = 1 m
• pd_offset_prediction = 0.8125 m
• weight_offset = 3 m/s²

All scenarios