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Function rc_filter_enable_soft_start

Function Documentation

int rc_filter_enable_soft_start(rc_filter_t *f, double seconds)

Enables soft start functionality where the output bound is gradually opened linearly from 0 to the normal saturation range.

This occurs over the time specified from argument ‘seconds’ from when the filter is first created or reset. Saturation must already be enabled for this to work. This assumes that the user does indeed call rc_filter_march at roughly the same time interval as the ‘dt’ variable in the filter struct which is set at creation time. The soft-start property is maintained through a call to rc_filter_reset so the filter will soft-start again after each reset. This feature should only really be used for feedback controllers to prevent jerky starts. The saturation flag will not be set during this period as the output is usually expected to be bounded and we don’t want to falsely trigger alarms or saturation counters.

Parameters

  • f – Pointer to user’s rc_filter_t struct

  • seconds – [in] Time in seconds

Returns

Returns 0 on success or -1 on failure.