Setting last output, even when auto mode is on.

Hello,

I was working with setting the last_output value by calling pid.set_auto_mode(True, last_output=X). The issue I was having is that the auto mode was already on, so the last_output value was not being updated.

This looks to be the intended functionality as the code for set_auto_mode checks if auto_mode is currently on. What I’m wondering is if we could update the docs to state that if you want to set the last_output value, you must first turn auto_mode off, or if we could add a function solely for setting the last_output value.

It’s also possible that setting the last output value during an auto mode is not advisable.

Thanks!

[m-lundberg]

Okay, then we are on the same page. I’m not an expert on setting up PID controllers but from my understanding it’s not completely uncommon to have to perform such a strategy.

I’ll try to make the behaviour a bit clearer in the documentation!

[keck-in-space]

Yes that’s exactly what we ended up doing. I am really just saying that process wasn’t super intuitive from my first reading of the documentation. Thanks for taking the time to understand!