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pid: doc parameters

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Astro 2020-12-18 16:29:53 +01:00
parent b717ac5495
commit b176fc2788
1 changed files with 7 additions and 0 deletions
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7
src/pid.rs
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@ -6,12 +6,19 @@ use uom::si::{
#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)] #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
pub struct Parameters { pub struct Parameters {
/// Gain coefficient for proportional term
pub kp: f32, pub kp: f32,
/// Gain coefficient for integral term
pub ki: f32, pub ki: f32,
/// Gain coefficient for derivative term
pub kd: f32, pub kd: f32,
/// Output limit minimum
pub output_min: f32, pub output_min: f32,
/// Output limit maximum
pub output_max: f32, pub output_max: f32,
/// Integral clipping minimum
pub integral_min: f32, pub integral_min: f32,
/// Integral clipping maximum
pub integral_max: f32 pub integral_max: f32
} }