Struct Pid 

pub struct Pid<R: FlightFloat> {
    pub p: R,
    pub i: R,
    pub d: R,
    pub max: R,
    pub min: R,
    pub tau: R,
    pub integrator: R,
    pub differentiator: R,
    pub prev_x: R,
    pub prev_t: R,
}

Fields

p: R

i: R

d: R

max: R

min: R

tau: R

integrator: R

differentiator: R

prev_x: R

prev_t: R

Implementations

impl<R: FlightFloat> Pid<R>

pub fn new(p: R, i: R, d: R, max_i: R, tau: R) -> Self

pub fn run(&mut self, x: R, x_c: R, dt: R, enable_integrator: bool) -> R

pub fn run_with_derivative( &mut self, x: R, x_c: R, xdot: R, dt: R, enable_integrator: bool, ) -> R

pub fn reset(&mut self)

Trait Implementations

impl<R: Clone + FlightFloat> Clone for Pid<R>

fn clone(&self) -> Pid<R>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<R: Debug + FlightFloat> Debug for Pid<R>

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

Formats the value using the given formatter.

impl<R: FlightFloat> Default for Pid<R>

fn default() -> Self

Returns the “default value” for a type.

impl<R: Copy + FlightFloat> Copy for Pid<R>