Struct AxisProcessor 

pub struct AxisProcessor<F>
where
    F: Filter<Input = InertialInput, Output = Radians>,
{
    pub pid: PidController,
    pub filter: F,
}

A generic controller for a single physical axis.

The AxisProcessor is generic over any Filter that accepts InertialInput and produces Radians. This allows the same control logic to be used with Complementary filters, Kalman filters, or simple low-pass filters.

Fields

pid: PidController

The PID algorithm responsible for generating the corrective signal.

filter: F

The sensor fusion filter responsible for estimating the current orientation.

Implementations

impl<F> AxisProcessor<F>

where F: Filter<Input = InertialInput, Output = Radians>,

pub fn new(filter: F, pid: PidController) -> Self

Creates a new AxisProcessor with the provided estimation and control components.

pub fn process( &mut self, input: InertialInput, target_angle: Radians, dt: f32, ) -> f32

Executes one iteration of the control loop for this axis.

This method performs two primary steps:

1. State Estimation: Updates the internal filter with new IMU data.
2. Control Generation: Computes the PID output based on the error between the target_angle and the estimated current_angle.

Parameters

• input - Raw rate and reference data from sensors.
• target_angle - The desired orientation for this axis.
• dt - Time delta since the last update in seconds.

Returns

A normalized control signal (f32), typically in the range [-1.0, 1.0].