# Changelog ## 0.4.0 - IQmath backend is now generic over the Q-format: `_iq1` through `_iq30` can be used simultaneously, each dispatching to its own backend - Removed `CONFIG_PID_CTRL_IQ_FORMAT` (Kconfig) and the `GLOBAL_IQ` requirement. The component no longer constrains `GLOBAL_IQ`, so other components are free to choose their own format - An IQmath API per concrete format is added, e.g. `pid_new_control_block_iq24()` with `pid_ctrl_parameter_iq24_t` / `pid_ctrl_config_iq24_t` / `pid_ctrl_block_handle_iq24_t` - The unsuffixed `_iq` API is unchanged in name: `pid_ctrl_parameter_iq_t` / `pid_ctrl_config_iq_t` / `pid_ctrl_block_handle_iq_t` and `pid_*_iq()` keep working. They are inline wrappers around the `_iqN` backend named by `GLOBAL_IQ` in the including translation unit, and have their own types so they can be mixed with the concrete `_iqN` ones in the same translation unit ## 0.3.1 - Renamed PID control block handle typedefs to keep backend suffix naming consistent: - `pid_ctrl_block_f_handle_t` -> `pid_ctrl_block_handle_f_t` - `pid_ctrl_block_iq_handle_t` -> `pid_ctrl_block_handle_iq_t` ## 0.3.0 - Added IQmath fixed-point backend (`pid_*_iq()`) - Added `CONFIG_PID_CTRL_IQ_FORMAT` to configure the IQmath Q-format ## 0.2.0 - Added `pid_reset_ctrl_block()` to clear the accumulated error of a control block ## 0.1.0 - Initial version