pid

PID controllers for flight and track control.

类：

名称	描述
PID	Classic PID controller with optional derivative filtering.
FlightController	PID-based flight controller.
TrackController	PID-based track controller.

PID

PID(Kp: Any = 0.0, Ki: Any = 0.0, Kd: Any = 0.0, dt: float = 0.01, N: float = 100.0, integral_limit: Any | None = None)

Classic PID controller with optional derivative filtering.

The internal state shape follows Kp through NumPy broadcasting. This makes scalar and multi-axis gains behave consistently without additional shape bookkeeping.

Initialize PID gains and internal state.

参数：

名称	类型	描述	默认
Kp	Any	Proportional gain. Its shape defines the PID state shape.	0.0
Ki	Any	Integral gain broadcast against the PID state.	0.0
Kd	Any	Derivative gain broadcast against the PID state.	0.0
dt	float	Controller time step.	0.01
N	float	First-order derivative filter coefficient.	100.0
integral_limit	Any | None	Optional elementwise clamp for the integral state.	None

方法：

名称	描述
reset	Reset integrator and derivative state.
update	Compute the PID output for the current error.

reset

reset() -> None

Reset integrator and derivative state.

update

update(error: ndarray | float) -> np.ndarray

Compute the PID output for the current error.

参数：

名称	类型	描述	默认
error	ndarray | float	Control error compatible with the PID state shape derived from Kp.	必需

返回：

类型	描述
ndarray	np.ndarray: Combined P+I+D control output.

FlightController

FlightController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0], gains: dict | None = None, limits: dict | None = None)

Bases: ControllerBase

PID-based flight controller.

Initialize the flight PID controller.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters used by the controller.	VehicleParams()
control_mask	list[int]	Boolean-like mask indicating which target channels are provided externally and which are filled by the controller.	[1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0]
gains	dict | None	Optional PID gain dictionary. If omitted, the module-level flight defaults are used.	None
limits	dict | None	Optional command-limit configuration. Supported keys include vel_cmd, vel_error and att_cmd. Any key can be set to None to disable that clamp.	None

方法：

名称	描述
reset	Reset all inner PID loops of the flight controller.
update	Compute thrust and moments for the current target/state.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

reset

reset() -> None

Reset all inner PID loops of the flight controller.

update

update(target: ndarray, state: ndarray) -> np.ndarray

Compute thrust and moments for the current target/state.

参数：

名称	类型	描述	默认
target	ndarray	Desired state vector with shape (12,) ordered as [x, y, z, vx, vy, vz, roll, pitch, yaw, wx, wy, wz].	必需
state	ndarray	Current state vector with the same ordering as target.	必需

返回：

类型	描述
ndarray	np.ndarray: Control output [thrust, roll_moment, pitch_moment, yaw_moment].

TrackController

TrackController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [0, 0, 0, 1, 0, 1], gains: dict | None = None)

Bases: ControllerBase

PID-based track controller.

Initialize the track PID controller.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters used by the controller.	VehicleParams()
control_mask	list[int]	Boolean-like mask indicating which target channels are provided externally and which are filled by the controller.	[0, 0, 0, 1, 0, 1]
gains	dict | None	Optional PID gain dictionary. If omitted, the module-level track defaults are used.	None

方法：

名称	描述
reset	Reset all inner PID loops of the track controller.
update	Compute track accelerations for the current target/state.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

reset

reset() -> None

Reset all inner PID loops of the track controller.

update

update(target: ndarray, state: ndarray) -> np.ndarray

Compute track accelerations for the current target/state.

参数：

名称	类型	描述	默认
target	ndarray	Desired state vector with shape (6,) ordered as [x, y, yaw, u, v, r].	必需
state	ndarray	Current state vector with the same ordering as target.	必需

返回：

类型	描述
ndarray	np.ndarray: Left and right track acceleration commands [a_l, a_r].