Noetic devel integral windup #18
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fixed integral windup.
No max and min integral now.
instead we apply saturation to total pid outputs.
When saturated, integral term will not be updated.
This matches the conventional way of avoiding integral windup using what so call "clamping".
Also, the integral error of corresponding DOF will be reset to zero if there is a setpoint change for that DOF.
Overall, this produces a smoother control performance and Path following