[StabilizerTask] Fix disabling when the robot is in the air #411
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gergondet
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Nov 27, 2023
gergondet
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Jan 17, 2024
Added -- - [mc_control] Support for renaming the main robot via the configuration (#423) - [mc_rbdyn] Add `addBodySensor` to `mc_rbdyn::Robot` (#419) - [mc_rtc] Add support for any fixed size vector to Schema (#422) - [mc_rtc] Add `std::map<std::string, T>` support in Schema (#412) - [mc_solver] Add support for inactive joints in a collision (#416) Fixes -- - [StabilizerTask] Fix disabling when the robot is in the air (#411)
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This PR properly disables the stabilizer when the robot is in the air by ensuring that all feedback gains are set to zero when lifting occurs and resets them to their pre-lifting values when the robot is back on the ground.
Please note however that in case of erroneous lift-off detection, this might have some side effects as the derivators and integrators are reset (current existing behaviour). However I don't think we ever had erroneous detection of whether the robot is in the air, so it's not a big concern.