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: dict | None = None, 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	dict | None	Dict mask mapped to state keys, e.g. {"pos": [1, 1, 1], "att_euler": [0, 0, 1]} for position + yaw control. Channels not in the mask are filled by the cascade.	None
gains	dict | None	Optional PID gain dictionary. If omitted, the module-level flight defaults are used.	None
limits	dict | None	Optional controller-internal target limits. If omitted, limits are derived from params.	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.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

reset

reset() -> None

Reset all inner PID loops of the flight controller.

update

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

Compute thrust and moments for the current target/state.

参数：

名称	类型	描述	默认
target	dict	Desired state dict with keys matching the mask.	必需
state	dict	Current state dict with keys: pos(3), vel(3), att_euler(3), ang_vel(3).	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: dict | None = None, 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	dict | None	Dict mask mapped to target keys. Default {"vel_b": [1, 0, 0], "ang_vel": [0, 0, 1]} (u + yaw_rate externally set).	None
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.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

reset

reset() -> None

Reset all inner PID loops of the track controller.

update

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

Compute track accelerations for the current target/state.

参数：

名称	类型	描述	默认
target	dict	Desired state dict with keys pos(3), vel_b(3), att_euler(3), ang_vel(3). Only pos[:2], vel_b[0], att_euler[2], ang_vel[2] are used.	必需
state	dict	Current state dict with the same keys.	必需

返回：

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