Overview

Usage Example

// Angle Stabilizer Exampleuse free_flight_stabilization::{AngleStabilizer,FlightStabilizer,FlightStabilizerConfig};letmut config =FlightStabilizerConfig::<f32>::new();// Set the PID gains for roll, pitch, and yaw.config.kp_roll =0.2;config.ki_roll =0.3;config.kd_roll = -0.05;config.kp_pitch = config.kp_roll;config.ki_pitch = config.ki_roll;config.kd_pitch = config.kd_roll;config.kp_yaw =0.3;config.ki_yaw =0.05;config.kd_yaw =0.00015;// Set the upper limit for the integral term to prevent windup.config.i_limit =25.0;// Set the scale to adjust the PID outputs to the actuator range.config.scale =0.01;// Create the angle stabilizer.letmut stabilizer =AngleStabilizer::with_config(config);// Simulated sensor inputs and desired setpoints.let set_point =(10.0,0.0,10.0);// desired roll, pitch, yawlet imu_attitude =(5.0,5.0,0.0);// current roll, pitch, yawlet gyro_rate =(1.0, -1.0, -1.0);// current roll rate, pitch rate, yaw ratelet dt =0.01;// time steplet low_throttle =false;// Perform the control computation.let(roll_pid, pitch_pid, yaw_pid) =    stabilizer.control(set_point, imu_attitude, gyro_rate, dt, low_throttle);

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