Struct Coefficients 

#[repr(C)]
pub struct Coefficients {
    pub kp: i32,
    pub ki_period: i32,
    pub derivative_decay: i32,
    pub derivative_gain: i32,
    pub position_gain: i32,
    pub velocity_gain: i32,
    pub reference_gain: i32,
    pub output_min: i32,
    pub output_max: i32,
    pub integral_min: i32,
    pub integral_max: i32,
}

C-layout signed Q8.24 coefficients and output/integral bounds.

Fields

kp: i32

Proportional error gain, nonnegative.

ki_period: i32

Integral gain times sample period, nonnegative.

derivative_decay: i32

Filter decay in the inclusive interval [0, 2^24].

derivative_gain: i32

Filtered derivative gain on the measurement difference, nonnegative.

position_gain: i32

Discrete LQR position state feedback.

velocity_gain: i32

Discrete LQR velocity state feedback; zero for the scalar thermal model.

reference_gain: i32

Steady-state reference prefilter gain.

output_min: i32

Minimum actuator command.

output_max: i32

Maximum actuator command.

integral_min: i32

Minimum PID integral state.

integral_max: i32

Maximum PID integral state.

Implementations

impl Coefficients

pub fn validate(&self) -> Result<(), InvalidCoefficients>

Check bounds, nonnegative PID gains and stable derivative filter decay.

Trait Implementations

impl Clone for Coefficients

fn clone(&self) -> Coefficients

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Coefficients

impl Debug for Coefficients

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for Coefficients

impl PartialEq for Coefficients

fn eq(&self, other: &Coefficients) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Coefficients