Struct SmoothPidConfig

• Defined in File smooth_pid.hpp

Struct Documentation

struct SmoothPidConfig

Public Members

float kp = 0.0f

float ki = 0.0f

float kd = 0.0f

float maxICumulative = 0.0f

float maxOutput = 0.0f

float tQDerivativeKalman = 1.0f

The system noise covariance for the kalman filter that is applied to the derivative of the error.

float tRDerivativeKalman = 0.0f

The measurement noise covariance for the kalman filter that is applied to the derivative of the error.

float tQProportionalKalman = 1.0f

The system noise covariance for the kalman filter that is applied to the proportional error.

float tRProportionalKalman = 0.0f

The measurement noise covariance for the kalman filter that is applied to the proportional error.

float errDeadzone = 0.0f

Within [-errDeadzone, errDeadzone], the PID controller error will be set to 0.

float errorDerivativeFloor = 0.0f

Minimum error value at which the PID controller will compute and apply the derivative term.