arm_pid_instance_q31 Struct Reference

Instance structure for the Q31 PID Control.

Data Fields
q31_t	A0
q31_t	A1
q31_t	A2
q31_t	state [3]
q31_t	Kp
q31_t	Ki
q31_t	Kd

Field Documentation

A0

q31_t A0

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

A1

q31_t A1

The derived gain, A1 = -Kp - 2Kd.

A2

q31_t A2

The derived gain, A2 = Kd .

Kd

q31_t Kd

The derivative gain.

Ki

q31_t Ki

The integral gain.

Kp

q31_t Kp

The proportional gain.

state

q31_t state[3]

The state array of length 3.