Struct CascadeAngleControlData 

pub struct CascadeAngleControlData<T> {
    pub measurement: T,
    pub prev_measurement: T,
    pub rate: T,
    pub dt: T,
    pub integral_limit: T,
    pub reset_integral: bool,
}

Control data for angle-based PID stabilization callback.

Fields

measurement: T

The current measured angle, calculated from sensors.

prev_measurement: T

The prevously measured angle, calculated from sensors.

rate: T

The current rate of change, typically reported by a gyro.

dt: T

The time delta since the last computation.

integral_limit: T

The maximum allowed value for the integral term, used to prevent integral windup.

reset_integral: bool

Flag to reset the integral term, typically used when the controller is inactive.

Trait Implementations

impl<T: Clone> Clone for CascadeAngleControlData<T>

fn clone(&self) -> CascadeAngleControlData<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for CascadeAngleControlData<T>

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

Formats the value using the given formatter.

impl<T: Default> Default for CascadeAngleControlData<T>

fn default() -> CascadeAngleControlData<T>

Returns the “default value” for a type.

impl<T: PartialEq> PartialEq for CascadeAngleControlData<T>

fn eq(&self, other: &CascadeAngleControlData<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T: Copy> Copy for CascadeAngleControlData<T>

impl<T> StructuralPartialEq for CascadeAngleControlData<T>