DCL_PID_SPS Struct Reference

Detailed Description

Defines DCL_PID shadow parameter set used for updating controller parameter.

Data Fields
float32_t	Kp
	Proportional gain. More...
float32_t	Ki
	Integral gain. More...
float32_t	Kd
	Derivative gain. More...
float32_t	Kr
	Set point weight, default is 1. More...
float32_t	c1
	D path low-pass filter coefficient 1, default is 1. More...
float32_t	c2
	D path low-pass filter coefficient 2, default is 0. More...
float32_t	Umax
	Upper saturation limit. More...
float32_t	Umin
	Lower saturation limit. More...

Field Documentation

Kp

float32_t DCL_PID_SPS::Kp

Proportional gain.

Ki

float32_t DCL_PID_SPS::Ki

Integral gain.

Kd

float32_t DCL_PID_SPS::Kd

Derivative gain.

Kr

float32_t DCL_PID_SPS::Kr

Set point weight, default is 1.

c1

float32_t DCL_PID_SPS::c1

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

c2

float32_t DCL_PID_SPS::c2

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

Umax

float32_t DCL_PID_SPS::Umax

Upper saturation limit.

Umin

float32_t DCL_PID_SPS::Umin

Lower saturation limit.