espressif/pid_ctrl

# Proportional integral derivative controller [![Component Registry](https://components.espressif.com/components/espressif/pid_ctrl/badge.svg)](https://components.espressif.com/components/espressif/pid_ctrl) ## Numeric backends Two numeric backends are built in and can coexist in the same firmware: - **float** — `pid_*_f()` with `pid_ctrl_config_f_t` / `pid_ctrl_block_handle_f_t` - **IQmath** — one API per Q-format (`_iq1` .. `_iq30`): `pid_*_iqN()` with `pid_ctrl_parameter_iqN_t` / `pid_ctrl_config_iqN_t` / `pid_ctrl_block_handle_iqN_t`, plus an unsuffixed `_iq` API that follows `GLOBAL_IQ` The Q-format is selected by the **type** you pass in. There is nothing to configure. Unused formats are dropped by the linker. ```c pid_ctrl_config_iq24_t cfg24 = { .init_param = { .kp = _IQ24(1.0f), /* ... */ } }; pid_ctrl_block_handle_iq24_t h24 = NULL; pid_new_control_block(&cfg24, &h24); pid_ctrl_config_iq8_t cfg8 = { .init_param = { .kp = _IQ8(1.0f), /* ... */ } }; pid_ctrl_block_handle_iq8_t h8 = NULL; pid_new_control_block(&cfg8, &h8); _iq24 out = 0; pid_compute(h24, _IQ24(0.5f), &out); /* Q24 arithmetic */ ``` The unsuffixed `_iq` API follows `GLOBAL_IQ` of the translation unit that includes `pid_ctrl.h`. It is an inline wrapper around the matching `_iqN` backend, so it does not freeze the format at whatever `GLOBAL_IQ` happened to be when this component was compiled. ```c pid_ctrl_config_iq_t cfg = { .init_param = { .kp = _IQ(1.0f), /* ... */ } }; pid_ctrl_block_handle_iq_t h = NULL; pid_new_control_block(&cfg, &h); _iq out = 0; pid_compute(h, _IQ(0.5f), &out); /* GLOBAL_IQ arithmetic */ ``` > [!NOTE] > IQmath `_iqN` scalars are all `int32_t`, so `pid_compute`'s error / result and the parameter fields must be converted with the matching `_IQN()` helper. ### Unified interface `pid_new_control_block`, `pid_compute`, ... dispatch from the argument type: float, unsuffixed `_iq`, or a concrete `_iqN`. This works in C (`_Generic`) and C++ (overloads).

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