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adaptive_gains

qualia_core_db::modalities::control_feedback::advanced

Function adaptive_gains 

Source 
pub fn adaptive_gains(
    kp: f64,
    ki: f64,
    kd: f64,
    adaptation: f64,
) -> (f64, f64, f64)
Expand description

Scale a PID gain triple by a scalar adaptation factor — the simplest gain-scheduling step (retune as the operating regime changes). Returns (kp, ki, kd).