Struct PidInstanceQ31 

pub struct PidInstanceQ31 {
    pub a0: q31,
    pub a1: q31,
    pub a2: q31,
    pub state: [q31; 3],
    pub kp: q31,
    pub ki: q31,
    pub kd: q31,
}

Fields

a0: q31

a1: q31

a2: q31

state: [q31; 3]

kp: q31

ki: q31

kd: q31

Implementations

impl PidInstanceQ31

pub fn new(kp: q31, ki: q31, kd: q31) -> Self

pub fn init(&mut self, reset_state_flag: i32)

pub fn reset(&mut self)

pub fn process(&mut self, in_val: q31) -> q31

Each MAC term wraps individually (i32-wide, not the wider intermediate a naive i64 accumulator would allow), and only the final sum saturates. At the extreme edge where a coefficient and its paired value are both exactly Q31 MIN (-1.0), the term wraps to MIN instead of the mathematically exact +2^31, which can flip that term’s sign in the final sum. This only affects that single boundary input combination.

Trait Implementations

impl Clone for PidInstanceQ31

fn clone(&self) -> PidInstanceQ31

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PidInstanceQ31

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

Formats the value using the given formatter.

impl Default for PidInstanceQ31

fn default() -> PidInstanceQ31

Returns the “default value” for a type.

impl PartialEq for PidInstanceQ31

fn eq(&self, other: &PidInstanceQ31) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for PidInstanceQ31