witness_command Struct Reference

#include <witness_controller.h>

Public Attributes
uint32_t	cycle
int32_t	command
int32_t	integral
int32_t	derivative
bool	clipped
bool	integral_held

Detailed Description

One command and observable state, tagged with the input cycle.

Definition at line 33 of file witness_controller.h.

Member Data Documentation

clipped

bool witness_command::clipped

Whether the unsaturated command exceeds a configured limit.

Definition at line 36 of file witness_controller.h.

command

int32_t witness_command::command

Saturated actuator command in raw Q8.24.

Definition at line 35 of file witness_controller.h.

cycle

uint32_t witness_command::cycle

Original input cycle identifier retained through computation.

Definition at line 34 of file witness_controller.h.

derivative

int32_t witness_command::derivative

PID derivative state after the sample; zero for LQR.

Definition at line 35 of file witness_controller.h.

integral

int32_t witness_command::integral

PID integral state after the sample; zero for LQR.

Definition at line 35 of file witness_controller.h.

integral_held

bool witness_command::integral_held

Whether saturation and error direction prevent integral accumulation.

Definition at line 36 of file witness_controller.h.

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The documentation for this struct was generated from the following file:

• controllers/c/witness_controller.h