Struct PidControllers

pub struct PidControllers<const NUM_SAMPLES: usize> {
    pub mode: FlightMode,
    pub x_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>,
    pub y_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>,
    pub z_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>,
}

A Mulit-PID controller that can control the acceleration/velocity in one or all three axes.

Fields

mode: FlightMode

x_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>

This is ignored unless the mode FixedDirection.

y_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>

z_controller: Option<PidController<fn(_: f32, _: f32) -> f32, NUM_SAMPLES>>

Implementations

impl<const NUM_SAMPLES: usize> PidControllers<NUM_SAMPLES>

A collection of PidControllers, one for each 3D axis. Airships use either one or three PidControllers, depending on the mode (see action_nodes.rs for details of Airship modes).

pub fn new(mode: FlightMode) -> PidControllers<NUM_SAMPLES>

pub fn new_multi_pid_controllers( mode: FlightMode, travel_to: Vec3<f32>, ) -> PidControllers<16>

pub fn add_x_measurement(&mut self, time: f64, pv: f32)

pub fn add_y_measurement(&mut self, time: f64, pv: f32)

pub fn add_z_measurement(&mut self, time: f64, pv: f32)

pub fn add_measurement(&mut self, time: f64, pos: Vec3<f32>)

pub fn calc_err_x(&self) -> Option<f32>

pub fn calc_err_y(&self) -> Option<f32>

pub fn calc_err_z(&self) -> Option<f32>

pub fn limit_windup_x<F>(&mut self, f: F)

where F: Fn(&mut f64),

pub fn limit_windup_y<F>(&mut self, f: F)

where F: Fn(&mut f64),

pub fn limit_windup_z<F>(&mut self, f: F)

where F: Fn(&mut f64),

Trait Implementations

impl<const NUM_SAMPLES: usize> Clone for PidControllers<NUM_SAMPLES>

fn clone(&self) -> PidControllers<NUM_SAMPLES>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<const NUM_SAMPLES: usize> Debug for PidControllers<NUM_SAMPLES>

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.