Detailed Description

DCL_PID object for storing PID specific parameters.

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 filter coefficient 1, default is 1. More...

float32_t	c2
	D path filter coefficient 2, default is 0. More...

float32_t	Umax
	Upper saturation limit. More...

float32_t	Umin
	Lower saturation limit More...

float32_t	d2
	D path low-pass filter storage (Kd * c1) More...

float32_t	d3
	D path low-pass filter storage (c2) More...

float32_t	i10
	I path feedback storage. More...

float32_t	i14
	Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated. More...

DCL_PID_SPS *	sps
	updates controller parameter More...

DCL_CSS *	css
	configuration & debugging More...

Field Documentation

◆ Kp

float32_t dcl_pid::Kp

Proportional gain.

◆ Ki

float32_t dcl_pid::Ki

Integral gain.

◆ Kd

float32_t dcl_pid::Kd

Derivative gain.

◆ Kr

float32_t dcl_pid::Kr

Set point weight, default is 1.

◆ c1

float32_t dcl_pid::c1

D path filter coefficient 1, default is 1.

◆ c2

float32_t dcl_pid::c2

D path filter coefficient 2, default is 0.

◆ Umax

float32_t dcl_pid::Umax

Upper saturation limit.

◆ Umin

float32_t dcl_pid::Umin

Lower saturation limit

◆ d2

float32_t dcl_pid::d2

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

◆ d3

float32_t dcl_pid::d3

D path low-pass filter storage (c2)

◆ i10

float32_t dcl_pid::i10

I path feedback storage.

◆ i14

float32_t dcl_pid::i14

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

◆ sps

DCL_PID_SPS* dcl_pid::sps

updates controller parameter

◆ css

DCL_CSS* dcl_pid::css

configuration & debugging