embedded_flight_control::pid

Struct SlewLimiter

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pub struct SlewLimiter<const N: usize> {
    pub output_slew_rate: f32,
    /* private fields */
}
Expand description

Slew rate limiting filter. Used to prevent oscillation of a controller by modifying the controllers output based on a maximum slew rate

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§output_slew_rate: f32

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impl<const N: usize> SlewLimiter<N>

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pub fn new(slew_rate_max: f32, slew_rate_tau: f32) -> Self

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pub fn modifier(&mut self, sample: f32, dt: f32, now_ms: u32) -> f32

Apply the filter to a sample, returning multiplier between 0 and 1 to keep output within slew rate

Auto Trait Implementations§

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impl<const N: usize> Freeze for SlewLimiter<N>

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impl<const N: usize> RefUnwindSafe for SlewLimiter<N>

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impl<const N: usize> Send for SlewLimiter<N>

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impl<const N: usize> Sync for SlewLimiter<N>

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impl<const N: usize> Unpin for SlewLimiter<N>

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impl<const N: usize> UnwindSafe for SlewLimiter<N>

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

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impl<T> From<T> for T

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type Output = T

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