espressif/pid_ctrl

0.3.1

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uploaded 13 hours ago
Proportional-integral-derivative controller
Readme Changelog Dependencies 2 Dependents 1 Examples 0 Versions 5

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# Proportional integral derivative controller

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## Numeric backends

Two numeric backends are built in and can coexist in the same firmware:

- **float** — `pid_*_f()` APIs with `pid_ctrl_config_f_t` / `pid_ctrl_block_handle_f_t`.
- **IQmath `_iq`** — `pid_*_iq()` APIs with `pid_ctrl_config_iq_t` / `pid_ctrl_block_handle_iq_t`.

### Unified interface

For convenience, an unsuffixed API (`pid_new_control_block`, `pid_compute`, ...) is provided that automatically dispatches to the correct backend based on argument types:

- Use `pid_ctrl_config_f_t` and `pid_ctrl_block_handle_f_t` for the float backend.
- Use `pid_ctrl_config_iq_t` and `pid_ctrl_block_handle_iq_t` for the IQmath backend.

### IQmath Q-format

The fractional bit count used by the `_iq` backend is controlled by `CONFIG_PID_CTRL_IQ_FORMAT` (Kconfig, default `24`, range `1..30`). If your application defines `GLOBAL_IQ` before including `pid_ctrl.h`, it must match `CONFIG_PID_CTRL_IQ_FORMAT`.

Links

Supports all targets

License: Apache-2.0

To add this component to your project, run:

idf.py add-dependency "espressif/pid_ctrl^0.3.1"

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