Buoyancy Firmware  1.0
Buoyancy Vehicle Firmware Documentation
pidData_t Struct Reference

structure for holding PID related data More...

#include <mission.h>

Data Fields

float kp
 Proportional gain coefficient. More...
 
float ki
 Integral gain coefficient. More...
 
float kd
 Derivative gain coefficient. More...
 
float output
 PID output value. More...
 
float kiThreshold
 Ki threshold - When measured depth is further away than threshold Ki term is not part of pid calculation. More...
 
float atmosphericPressure
 Atmospheric pressure to help pressure sensor compensate for high or low barometric pressure. More...
 
float pistonPosition
 Piston position as read from the motor position encoder. More...
 

Detailed Description

structure for holding PID related data

Field Documentation

◆ atmosphericPressure

float atmosphericPressure

Atmospheric pressure to help pressure sensor compensate for high or low barometric pressure.

◆ kd

float kd

Derivative gain coefficient.

◆ ki

float ki

Integral gain coefficient.

◆ kiThreshold

float kiThreshold

Ki threshold - When measured depth is further away than threshold Ki term is not part of pid calculation.

◆ kp

float kp

Proportional gain coefficient.

◆ output

float output

PID output value.

◆ pistonPosition

float pistonPosition

Piston position as read from the motor position encoder.


The documentation for this struct was generated from the following file: