pi_compensator_t Struct Reference

Defines the parameters used by the PI compensator.

Public Attributes
bool	has_lmt
	Turn on/off the limits for the integrator of the PI compensator.
float	max
	Maximum integrator limit of the PI compensator.
float	min
	Minimum integrator limit of the PI compensator.
float	Kp
	Kp parameter for the PI compensator.
float	Ki
	Ki parameter for the PI compensator.
float	dt
	Time interval in seconds for the PI compensator.
float	Integral
	Integral term for the PI compensator. Should be zero at startup and reset.