pid: doc parameters

src/pid.rs

@@ -6,12 +6,19 @@ use uom::si::{
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
+    /// Gain coefficient for proportional term
     pub kp: f32,
+    /// Gain coefficient for integral term
     pub ki: f32,
+    /// Gain coefficient for derivative term
     pub kd: f32,
+    /// Output limit minimum
     pub output_min: f32,
+    /// Output limit maximum
     pub output_max: f32,
+    /// Integral clipping minimum
     pub integral_min: f32,
+    /// Integral clipping maximum
     pub integral_max: f32
 }
 
@@ -19,8 +26,8 @@ impl Default for Parameters {
     fn default() -> Self {
         Parameters {
             kp: 1.5,
-            ki: 0.1,
-            kd: 150.0,
+            ki: 1.0,
+            kd: 1.5,
             output_min: 0.0,
             output_max: 2.0,
             integral_min: -10.0,