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  52   <div class="headertitle">
  53 <h1>arm_pid_instance_q31 Struct Reference</h1>  </div>
  54 </div>
  55 <div class="contents">
  56 <!-- doxytag: class="arm_pid_instance_q31" -->
  57 <p>Instance structure for the Q31 PID Control.
  58 <a href="#_details">More...</a></p>
  59
  60 <p><code>#include &lt;<a class="el" href="arm__math_8h_source.html">arm_math.h</a>&gt;</code></p>
  61 <table class="memberdecls">
  62 <tr><td colspan="2"><h2><a name="pub-attribs"></a>
  63 Data Fields</h2></td></tr>
  64 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">A0</a></td></tr>
  65 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">A1</a></td></tr>
  66 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a3e34537c53af4f9ad7bfffa4dff27c82">A2</a></td></tr>
  67 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">state</a> [3]</td></tr>
  68 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">Kp</a></td></tr>
  69 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#aa861d69fd398f29aa0b4b455a823ed72">Ki</a></td></tr>
  70 <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a></td></tr>
  71 </table>
  72 <hr/><a name="_details"></a><h2>Detailed Description</h2>
  73 <p>Instance structure for the Q31 PID Control. </p>
  74
  75 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01682">1682</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
  76 <hr/><h2>Field Documentation</h2>
  77 <a class="anchor" id="aa5332635ce9c7078cdb4c1ecf442eadd"></a><!-- doxytag: member="arm_pid_instance_q31::A0" ref="aa5332635ce9c7078cdb4c1ecf442eadd" args="" -->
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  82           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">arm_pid_instance_q31::A0</a></td>
  83         </tr>
  84       </table>
  85 </div>
  86 <div class="memdoc">
  87 <p>The derived gain, A0 = Kp + Ki + Kd . </p>
  88
  89 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01684">1684</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
  90
  91 </div>
  92 </div>
  93 <a class="anchor" id="a2f7492bd6fb92fae5e2de7fbbec39b0e"></a><!-- doxytag: member="arm_pid_instance_q31::A1" ref="a2f7492bd6fb92fae5e2de7fbbec39b0e" args="" -->
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  98           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">arm_pid_instance_q31::A1</a></td>
  99         </tr>
 100       </table>
 101 </div>
 102 <div class="memdoc">
 103 <p>The derived gain, A1 = -Kp - 2Kd. </p>
 104
 105 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01685">1685</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 106
 107 </div>
 108 </div>
 109 <a class="anchor" id="a3e34537c53af4f9ad7bfffa4dff27c82"></a><!-- doxytag: member="arm_pid_instance_q31::A2" ref="a3e34537c53af4f9ad7bfffa4dff27c82" args="" -->
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 114           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#a3e34537c53af4f9ad7bfffa4dff27c82">arm_pid_instance_q31::A2</a></td>
 115         </tr>
 116       </table>
 117 </div>
 118 <div class="memdoc">
 119 <p>The derived gain, A2 = Kd . </p>
 120
 121 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01686">1686</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 122
 123 </div>
 124 </div>
 125 <a class="anchor" id="a228e4a64da6014844a0a671a1fa391d4"></a><!-- doxytag: member="arm_pid_instance_q31::state" ref="a228e4a64da6014844a0a671a1fa391d4" args="[3]" -->
 126 <div class="memitem">
 127 <div class="memproto">
 128       <table class="memname">
 129         <tr>
 130           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">arm_pid_instance_q31::state</a>[3]</td>
 131         </tr>
 132       </table>
 133 </div>
 134 <div class="memdoc">
 135 <p>The state array of length 3. </p>
 136
 137 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01687">1687</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 138
 139 </div>
 140 </div>
 141 <a class="anchor" id="ac2410bf7f856d58dc1d773d4983cac8e"></a><!-- doxytag: member="arm_pid_instance_q31::Kp" ref="ac2410bf7f856d58dc1d773d4983cac8e" args="" -->
 142 <div class="memitem">
 143 <div class="memproto">
 144       <table class="memname">
 145         <tr>
 146           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">arm_pid_instance_q31::Kp</a></td>
 147         </tr>
 148       </table>
 149 </div>
 150 <div class="memdoc">
 151 <p>The proportional gain. </p>
 152
 153 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01688">1688</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 154
 155 </div>
 156 </div>
 157 <a class="anchor" id="aa861d69fd398f29aa0b4b455a823ed72"></a><!-- doxytag: member="arm_pid_instance_q31::Ki" ref="aa861d69fd398f29aa0b4b455a823ed72" args="" -->
 158 <div class="memitem">
 159 <div class="memproto">
 160       <table class="memname">
 161         <tr>
 162           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#aa861d69fd398f29aa0b4b455a823ed72">arm_pid_instance_q31::Ki</a></td>
 163         </tr>
 164       </table>
 165 </div>
 166 <div class="memdoc">
 167 <p>The integral gain. </p>
 168
 169 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01689">1689</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 170
 171 </div>
 172 </div>
 173 <a class="anchor" id="aab4ff371d14441df501f1169f71cbd17"></a><!-- doxytag: member="arm_pid_instance_q31::Kd" ref="aab4ff371d14441df501f1169f71cbd17" args="" -->
 174 <div class="memitem">
 175 <div class="memproto">
 176       <table class="memname">
 177         <tr>
 178           <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> <a class="el" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">arm_pid_instance_q31::Kd</a></td>
 179         </tr>
 180       </table>
 181 </div>
 182 <div class="memdoc">
 183 <p>The derivative gain. </p>
 184
 185 <p>Definition at line <a class="el" href="arm__math_8h_source.html#l01690">1690</a> of file <a class="el" href="arm__math_8h_source.html">arm_math.h</a>.</p>
 186
 187 </div>
 188 </div>
 189 <hr/>The documentation for this struct was generated from the following file:<ul>
 190 <li><a class="el" href="arm__math_8h_source.html">arm_math.h</a></li>
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