arm_pid_instance_q15 Struct Reference

Instance structure for the Q15 PID Control.

Data Fields
q15_t	A0
q15_t	A1
q15_t	A2
q15_t	state [3]
q15_t	Kp
q15_t	Ki
q15_t	Kd

Field Documentation

A0

q15_t A0

The derived gain, A0 = Kp + Ki + Kd .

A1

q15_t A1

The derived gain A1 = -Kp - 2Kd

A2

q15_t A2

The derived gain A1 = Kd.

Kd

q15_t Kd

The derivative gain.

Ki

q15_t Ki

The integral gain.

Kp

q15_t Kp

The proportional gain.

state

q15_t state[3]

The state array of length 3.