From b13a1dcc306df3dd18b40d09a13b59d80181ccb1 Mon Sep 17 00:00:00 2001
From: Victor Coutinho Vieira Santos
 <69547580+ViktorCVS@users.noreply.github.com>
Date: Wed, 22 Jan 2025 06:54:02 -0300
Subject: [PATCH] Improve antiwindup description (#1502)

(cherry picked from commit af572aafdc5b3a2afb4d67c9eccfc631d3759eb5)
---
 pid_controller/src/pid_controller.yaml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/pid_controller/src/pid_controller.yaml b/pid_controller/src/pid_controller.yaml
index f645738862..1727d2c8a9 100644
--- a/pid_controller/src/pid_controller.yaml
+++ b/pid_controller/src/pid_controller.yaml
@@ -62,17 +62,20 @@ pid_controller:
       antiwindup: {
         type: bool,
         default_value: false,
-        description: "Antiwindup functionality."
+        description: "Antiwindup functionality. When set to true, limits
+        the integral error to prevent windup; otherwise, constrains the
+        integral contribution to the control output. i_clamp_max and
+        i_clamp_min are applied in both scenarios."
       }
       i_clamp_max: {
         type: double,
         default_value: 0.0,
-        description: "Upper integral clamp. Only used if antiwindup is activated."
+        description: "Upper integral clamp."
       }
       i_clamp_min: {
         type: double,
         default_value: 0.0,
-        description: "Lower integral clamp. Only used if antiwindup is activated."
+        description: "Lower integral clamp."
       }
       feedforward_gain: {
         type: double,