If this is the core change, can we introduce this logic in PI controller.c itself with a simple flag check (say, if 'IsDerivativeEnabled" set to true, add the derivative signal to Control signal. e...
If this is the core change, can we introduce this logic in PI controller.c itself with a simple flag check (say, if 'IsDerivativeEnabled" set to true, add the derivative signal to Control signal. else, just a PI control signal would work. (something similar to Feed forward enabled flag)