Struct PidConfig 

pub struct PidConfig<T: Float> {

    pub kp: T,
    pub ki: T,
    pub kd: T,
    pub output_max: T,
    pub output_min: T,
    pub output_rate_limit: Option<T>,
    pub p_limit: T,
    pub i_limit: T,
    pub d_limit: T,
    pub antiwindup_mode: AntiWindupMode,
    pub antiwindup_gain: T,
    pub derivative_mode: DerivativeMode,
    pub derivative_filter_coeff: T,
    pub max_dt: T,
    pub min_dt: T,
    pub setpoint_ramping: bool,
    pub setpoint_ramp_rate: T,
}

Configuration for the PID controller

Fields

kp: T

Proportional gain

ki: T

Integral gain

kd: T

Derivative gain

output_max: T

Maximum allowed output

output_min: T

Minimum allowed output

output_rate_limit: Option<T>

Maximum rate of change of output (per second)

p_limit: T

Proportional term limit

i_limit: T

Integral term limit (anti-windup)

d_limit: T

Derivative term limit

antiwindup_mode: AntiWindupMode

Anti-windup strategy

antiwindup_gain: T

Back-calculation gain (for BackCalculation mode)

derivative_mode: DerivativeMode

Derivative filtering mode

derivative_filter_coeff: T

Derivative filter coefficient (0.0 to 1.0, typically 0.1-0.3)

max_dt: T

Maximum allowed time step (seconds) - for safety

min_dt: T

Minimum allowed time step (seconds) - prevents division issues

setpoint_ramping: bool

Enable setpoint ramping (smooth setpoint changes)

setpoint_ramp_rate: T

Setpoint ramp rate (units per second)

Trait Implementations

impl<T: Clone + Float> Clone for PidConfig<T>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy + Float> Copy for PidConfig<T>

impl<T: Debug + Float> Debug for PidConfig<T>

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

Formats the value using the given formatter.

impl<T: Float> Default for PidConfig<T>

fn default() -> Self

Returns the “default value” for a type.