Enum IntegratorActivity 

pub enum IntegratorActivity {
    Inactive,
    HoldIntegration,
    Active,
}

The activity level of the PID controller’s integrator.

Details

During PID operation, the integrator could be paused, or disabled entirely. Pausing the integrator is useful when the integrator has already accumulated a useful amount of error enough to eliminate the steady state error but the system is entering a regime where noisy sensor feedback or rapid setpoint changes could cause the integrator to accumulate unwanted error.

Example

In an autopilot application, you could set integrator activity to

• Inactive when the aircraft not under autopilot control at all
• HoldIntegration when the aircraft is under autopilot control but below an altitude threshold (ground effect causes strong disturbances present in that region only)
• Active when the aircraft is under autopilot control and above the altitude threshold

Variants

Inactive

The integrator is disabled and the i-term set to zero

HoldIntegration

The integrator is paused and the i-term is held at the last value

Active

The integrator is active and the i-term is updated

Trait Implementations

impl Clone for IntegratorActivity

fn clone(&self) -> IntegratorActivity

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for IntegratorActivity

impl Debug for IntegratorActivity

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for IntegratorActivity

fn eq(&self, other: &IntegratorActivity) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for IntegratorActivity