Struct ServoConfig 

pub struct ServoConfig {
    pub step_threshold_ns: f64,
    pub panic_threshold_ns: f64,
    pub allow_initial_step: bool,
    pub max_frequency: f64,
    pub init_samples: u32,
    pub fll_samples: u32,
}

Configuration for the PI servo.

Fields

step_threshold_ns: f64

Step threshold in nanoseconds. Offsets larger than this trigger a step. Default: 128_000_000 (128ms).

panic_threshold_ns: f64

Panic threshold in nanoseconds. Offsets whose absolute value exceeds this are rejected outright – neither slewed nor stepped – on the assumption that any jump this large is a bug or a spoofed/corrupt NTP reply rather than real drift. Must be greater than step_threshold_ns. Default: 1_000_000_000 (1s).

allow_initial_step: bool

Allow a single unrestricted step the first time the servo sees a measurement, bypassing panic_threshold_ns on that first sample only. Matches ntpd -g semantics: after a cold boot or long VM suspend the real-world offset can legitimately exceed any sane steady-state panic guard, and refusing to step would strand the clock forever. Once the first step is performed, the panic clamp engages for all subsequent samples. Default: true.

max_frequency: f64

Maximum frequency adjustment in PPM. Default: 500.0.

init_samples: u32

Number of initial samples to skip (for filter warmup). Default: 4.

fll_samples: u32

Number of FLL samples before switching to PLL. Default: 8.

Trait Implementations

impl Clone for ServoConfig

fn clone(&self) -> ServoConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ServoConfig

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

Formats the value using the given formatter.

impl Default for ServoConfig

fn default() -> Self

Returns the “default value” for a type.