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<div class="title">arm_pid_instance_q31 Struct Reference</div>  </div>
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<p>Instance structure for the Q31 PID Control.  
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Data Fields</h2></td></tr>
<tr class="memitem:aa5332635ce9c7078cdb4c1ecf442eadd"><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>
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<tr class="memitem:a2f7492bd6fb92fae5e2de7fbbec39b0e"><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>
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<tr class="memitem:a3e34537c53af4f9ad7bfffa4dff27c82"><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>
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<tr class="memitem:a228e4a64da6014844a0a671a1fa391d4"><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>
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<tr class="memitem:ac2410bf7f856d58dc1d773d4983cac8e"><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>
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<tr class="memitem:aa861d69fd398f29aa0b4b455a823ed72"><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>
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<h2 class="groupheader">Field Documentation</h2>
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          <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_instance_q31::A0</td>
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<p>The derived gain, A0 = Kp + Ki + Kd . </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>, and <a class="el" href="group___p_i_d.html#ga5f6f941e7ae981728dd3a662f8f4ecd7">arm_pid_q31()</a>.</p>

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          <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_instance_q31::A1</td>
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<p>The derived gain, A1 = -Kp - 2Kd. </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>, and <a class="el" href="group___p_i_d.html#ga5f6f941e7ae981728dd3a662f8f4ecd7">arm_pid_q31()</a>.</p>

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<p>The derived gain, A2 = Kd . </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>, and <a class="el" href="group___p_i_d.html#ga5f6f941e7ae981728dd3a662f8f4ecd7">arm_pid_q31()</a>.</p>

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<p>The derivative gain. </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>.</p>

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          <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_instance_q31::Ki</td>
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<p>The integral gain. </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>.</p>

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          <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_instance_q31::Kp</td>
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<p>The proportional gain. </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>.</p>

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          <td class="memname"><a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_instance_q31::state[3]</td>
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<p>The state array of length 3. </p>

<p>Referenced by <a class="el" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">arm_pid_init_q31()</a>, <a class="el" href="group___p_i_d.html#ga5f6f941e7ae981728dd3a662f8f4ecd7">arm_pid_q31()</a>, and <a class="el" href="group___p_i_d.html#gaeecbacd3fb37c608ec25474d3a0dffa9">arm_pid_reset_q31()</a>.</p>

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