arm_pid_instance_f32 Struct Reference

Instance structure for the floating-point PID Control.

Data Fields
float32_t	A0
float32_t	A1
float32_t	A2
float32_t	state [3]
float32_t	Kp
float32_t	Ki
float32_t	Kd

Field Documentation

float32_t A0

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

float32_t A1

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

float32_t A2

The derived gain, A2 = Kd .

float32_t Kd

The derivative gain.

float32_t Ki

The integral gain.

float32_t Kp

The proportional gain.

float32_t state[3]

The state array of length 3.