Struct Command 

#[repr(C)]
pub struct Command {
    pub cycle: u32,
    pub command: i32,
    pub integral: i32,
    pub derivative: i32,
    pub clipped: bool,
    pub integral_held: bool,
}

C-layout cycle-tagged command plus the observable PID state and clipping decisions.

Fields

cycle: u32

Original input cycle, unchanged by arithmetic latency.

command: i32

Saturated actuator command.

integral: i32

PID integral state after this sample; zero for LQR.

derivative: i32

PID derivative state after this sample; zero for LQR.

clipped: bool

Final unsaturated actuator value exceeded a configured limit.

integral_held: bool

Conditional integration refused a step that would worsen saturation.

Trait Implementations

impl Clone for Command

fn clone(&self) -> Command

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Command

impl Debug for Command

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

Formats the value using the given formatter.

impl Eq for Command

impl PartialEq for Command

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Command