Struct embedded_flight_control::pid::PID

source · [−]

pub struct PID {Show 17 fields
    pub reset_filter: bool,
    pub target: f32,
    pub error: f32,
    pub derivative: f32,
    pub dt: f32,
    pub info: Info,
    pub slew_limiter: SlewLimiter<2>,
    pub slew_limit_scale: f32,
    pub integrator: f32,
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
    pub ki_max: f32,
    pub kff: f32,
    pub filter_t_hz: f32,
    pub filter_e_hz: f32,
    pub filter_d_hz: f32,
}

Fields

reset_filter: booltarget: f32error: f32derivative: f32dt: f32info: Infoslew_limiter: SlewLimiter<2>slew_limit_scale: f32integrator: f32kp: f32ki: f32kd: f32ki_max: f32kff: f32filter_t_hz: f32filter_e_hz: f32filter_d_hz: f32

Implementations

impl PID

pub fn new(
    initial_p: f32,
    initial_i: f32,
    initial_d: f32,
    initial_ff: f32,
    initial_imax: f32,
    initial_filt_T_hz: f32,
    initial_filt_E_hz: f32,
    initial_filt_D_hz: f32,
    dt: f32
) -> Self

pub fn with_slew_rate(
    initial_p: f32,
    initial_i: f32,
    initial_d: f32,
    initial_ff: f32,
    initial_imax: f32,
    initial_filt_T_hz: f32,
    initial_filt_E_hz: f32,
    initial_filt_D_hz: f32,
    dt: f32,
    initial_srmax: f32,
    initial_srtau: f32
) -> Self

impl PID

pub fn target_filter_alpha(&self) -> f32

pub fn error_filter_alpha(&self) -> f32

pub fn derivative_filter_alpha(&self) -> f32

pub fn feed_forward(&self) -> f32

pub fn update_integral(&mut self, limit: bool)

Update the integral part of this PID. If the limit flag is set the integral is only allowed to shrink.

pub fn update(
    &mut self,
    target: f32,
    measurement: f32,
    limit: bool,
    now_ms: u32
) -> f32

Update target and measured inputs to the PID controller and calculate output. Target and error are filtered, then derivative is calculated and filtered, then the integral is then updated based on the setting of the limit flag

Auto Trait Implementations

impl RefUnwindSafe for PID

impl Send for PID

impl Sync for PID

impl Unpin for PID

impl UnwindSafe for PID

Blanket Implementations

impl<T> Any for T where
T: 'static + ?Sized,

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T: ?Sized,

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impl<T> BorrowMut<T> for T where
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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T where
U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

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