pid_controller_t Struct Reference

PID controller. More...

#include <pid_controller.hpp>

Collaboration diagram for pid_controller_t:

List of all members.

Public Attributes
float	p_gain
	Proportional gain.
float	clip_min
	Min clipping values.
float	clip_max
	Max clipping values.
integrator_t	integrator
	Integrator parameters.
differentiator_t	differentiator
	Differentiator parameters.
float	output
	Output.
float	error
	Error.
float	last_update_s
	Last update time in seconds.
float	dt_s
	Time step.
float	soft_zone_width
	Approximate width of a "soft zone" on the error input, i.e. a region of low gain around the target point. Value 0 -> switched off.
bool	is_saturated
	Boolean indicated if at last update the output was saturated, this is used as integrator antiwinding.

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Detailed Description

PID controller.

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The documentation for this struct was generated from the following file:

• /home/travis/build/lis-epfl/MAVRIC_Library/control/pid_controller.hpp