Struct PidConfig 

pub struct PidConfig {
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
    pub setpoint_weight_b: f32,
    pub derivative_filter_n: f32,
    pub kb: f32,
    pub output_min: f32,
    pub output_max: f32,
}

Tuning and limits for a PidController.

Fields

kp: f32

Proportional gain.

ki: f32

Integral gain (per second).

kd: f32

Derivative gain (seconds).

setpoint_weight_b: f32

Setpoint weight b on the proportional term (b·setpoint − measurement). 1.0 is classic PID; lower values (≈0.7) reduce overshoot on setpoint changes while keeping full disturbance rejection.

derivative_filter_n: f32

Derivative filter divisor N (the filter time constant is (Kd/Kp)/N). Typical range 2..=20; higher N filters less. Must be > 0.

kb: f32

Back-calculation anti-windup gain. 0.0 disables anti-windup. A common starting point is Kb ≈ Ki (anti-windup time constant 1/Kb).

output_min: f32

Lower saturation bound on the output.

output_max: f32

Upper saturation bound on the output.

Trait Implementations

impl Clone for PidConfig

fn clone(&self) -> PidConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PidConfig

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

Formats the value using the given formatter.

impl Default for PidConfig

fn default() -> Self

Defaults tuned for the DCC frame-time loop: output is the budget multiplier in [0.3, 1.0], the plant is the discrete strategy ladder sampled at the cold-path rate (~20 Hz). Conservative gains favour stability over speed on this coarse, non-linear actuator.

impl PartialEq for PidConfig

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for PidConfig

impl StructuralPartialEq for PidConfig