ardupilot/libraries/AC_PID/AP_PIDInfo.h

22 lines
473 B
C
Raw Normal View History

#pragma once
// This structure provides information on the internal member data of
// a PID. It provides an abstract way to pass PID information around,
// useful for logging and sending mavlink messages.
// It is also used to pass PID information into controllers...
struct AP_PIDInfo {
float target;
float actual;
float error;
float P;
float I;
float D;
float FF;
float Dmod;
float slew_rate;
bool limit;
bool PD_limit;
};