Module control_feedback 

Re-exports

pub use crate::frame_layout::CONTROL_BIT;

pub use crate::frame_layout::FEEDBACK_BIT;

pub use crate::frame_layout::STABILIZATION_BIT;

pub use advanced::adaptive_gains;

pub use advanced::mimo_output;

pub use advanced::mimo_step;

pub use advanced::mit_rule_adapt;

pub use advanced::mpc_control;

pub use advanced::scheduled_gain;

Modules

advanced

Advanced control algorithms — adaptive PID tuning, Model Predictive Control, and MIMO state-space — complementing the PID/anti-windup loops in the parent module. Pure f64 math, zero-heap (caller-supplied buffers; bounded loops).

Structs

ControlState

Control system state for feedback loops

FeedbackController

Feedback controller using PID algorithm

PidParameters

PID controller parameters

PowerSystemController

Power system controller for 12V battery management

PowerSystemState

SanctuaryController

Sanctuary perimeter controller for geofencing

Enums

ControlAction

Control actions for power system

SanctuaryAction

Sanctuary control actions

SystemHealth

System health status

Functions

controller_to_quin

Convert controller state to NQuin for storage

create_power_scenario

Create a power management scenario for testing

enforce_guided_referral

Guided Referral Trigger: the overriding gate that runs before the Linguistic Degradation Matrix. If a claim crosses a high-liability threshold — either an explicit acute-harm / imminent-jeopardy predicate, or an analytical vector whose metadata severity meets the referral floor — it returns an overriding referral that must be surfaced ahead of any analysis. None means “no override; degrade as normal”.

enforce_linguistic_degradation

Filters definitive claims through the Linguistic Degradation Matrix