Struct Angle2Stabilizer 

pub struct Angle2Stabilizer<T: Number> { /* private fields */ }

Struct representing the Angle2 PID Flight Stabilization Controller. This is a cascade PID controller that combines angle and rate.

Implementations

impl<T: Number> Angle2Stabilizer<T>

pub fn with_config( angle_config: FlightStabilizerConfig<T>, rate_config: FlightStabilizerConfig<T>, blending_config: CascadeBlendingConfig<T, 2>, ) -> Self

Creates a new controller using the provided configuration

pub fn new() -> Self

Creates a new controller with default settings

Trait Implementations

impl<T: Number> Default for Angle2Stabilizer<T>

fn default() -> Self

Returns the “default value” for a type.

impl<T: Number> FlightStabilizer<T> for Angle2Stabilizer<T>

fn control( &mut self, set_point: (T, T, T), imu_attitude: (T, T, T), gyro_rate: (T, T, T), dt: T, low_throttle: bool, ) -> (T, T, T)

Takes desired setpoints, current IMU attitude, and gyro rates, then computes the control outputs.