arm_pid_instance_q31 Struct Reference

Instance structure for the Q31 PID Control.

Data Fields

q31_t A0
 
q31_t A1
 
q31_t A2
 
q31_t state [3]
 
q31_t Kp
 
q31_t Ki
 
q31_t Kd
 

Field Documentation

q31_t arm_pid_instance_q31::A0

The derived gain, A0 = Kp + Ki + Kd .

Referenced by arm_pid_init_q31(), and arm_pid_q31().

q31_t arm_pid_instance_q31::A1

The derived gain, A1 = -Kp - 2Kd.

Referenced by arm_pid_init_q31(), and arm_pid_q31().

q31_t arm_pid_instance_q31::A2

The derived gain, A2 = Kd .

Referenced by arm_pid_init_q31(), and arm_pid_q31().

q31_t arm_pid_instance_q31::Kd

The derivative gain.

Referenced by arm_pid_init_q31().

q31_t arm_pid_instance_q31::Ki

The integral gain.

Referenced by arm_pid_init_q31().

q31_t arm_pid_instance_q31::Kp

The proportional gain.

Referenced by arm_pid_init_q31().

q31_t arm_pid_instance_q31::state[3]

The state array of length 3.

Referenced by arm_pid_init_q31(), arm_pid_q31(), and arm_pid_reset_q31().