Detailed Description

DCL_PIDF64 object for storing 64bit PID specific parameters.

Data Fields
float64_t	Kp
	Proportional gain. More...

float64_t	Ki
	Integral gain. More...

float64_t	Kd
	Derivative gain. More...

float64_t	Kr
	Set point weight, default is 1. More...

float64_t	c1
	D path low-pass filter coefficient 1, default is 1. More...

float64_t	c2
	D path low-pass filter coefficient 2, default is 0. More...

float64_t	Umax
	Upper saturation limit. More...

float64_t	Umin
	Lower saturation limit. More...

float64_t	d2
	D path low-pass filter storage (Kd * c1) More...

float64_t	d3
	D path low-pass filter storage (c2) More...

float64_t	i10
	I path feedback storage. More...

float64_t	i14
	Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated. More...

DCL_PIDF64_SPS *	sps
	updates controller parameter More...

DCL_CSSF64 *	css
	configuration & debugging More...

Field Documentation

◆ Kp

float64_t dcl_pidf64::Kp

Proportional gain.

◆ Ki

float64_t dcl_pidf64::Ki

Integral gain.

◆ Kd

float64_t dcl_pidf64::Kd

Derivative gain.

◆ Kr

float64_t dcl_pidf64::Kr

Set point weight, default is 1.

◆ c1

float64_t dcl_pidf64::c1

D path low-pass filter coefficient 1, default is 1.

◆ c2

float64_t dcl_pidf64::c2

D path low-pass filter coefficient 2, default is 0.

◆ Umax

float64_t dcl_pidf64::Umax

Upper saturation limit.

◆ Umin

float64_t dcl_pidf64::Umin

Lower saturation limit.

◆ d2

float64_t dcl_pidf64::d2

D path low-pass filter storage (Kd * c1)

◆ d3

float64_t dcl_pidf64::d3

D path low-pass filter storage (c2)

◆ i10

float64_t dcl_pidf64::i10

I path feedback storage.

◆ i14

float64_t dcl_pidf64::i14

Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated.

◆ sps

DCL_PIDF64_SPS* dcl_pidf64::sps

updates controller parameter

◆ css

DCL_CSSF64* dcl_pidf64::css

configuration & debugging