witness_pid_state Struct Reference

#include <witness_controller.h>

Public Attributes
int32_t	integral
int32_t	derivative
int32_t	previous_position
bool	initialized

Detailed Description

PID memory; zero initialization establishes the first-sample derivative boundary.

Definition at line 27 of file witness_controller.h.

Member Data Documentation

derivative

int32_t witness_pid_state::derivative

Current filtered derivative state in raw Q8.24.

Definition at line 28 of file witness_controller.h.

initialized

bool witness_pid_state::initialized

Whether a previous measurement exists since the last reset.

Definition at line 29 of file witness_controller.h.

integral

int32_t witness_pid_state::integral

Current bounded integral state in raw Q8.24.

Definition at line 28 of file witness_controller.h.

previous_position

int32_t witness_pid_state::previous_position

Previous raw Q8.24 measurement used for derivative-on-measurement.

Definition at line 28 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