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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

q31_t A0

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

q31_t A1

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

q31_t A2

The derived gain, A2 = Kd .

q31_t Kd

The derivative gain.

q31_t Ki

The integral gain.

q31_t Kp

The proportional gain.

q31_t state[3]

The state array of length 3.