6" title="Integral factor.">ki</a> * state-&gt;<a class="code" href="struct_p_i_d_state.html#ac13ddfe17d63fa9b765378450d3d1b3f" title="Integral state.">sumError</a>) + (state-&gt;<a class="code" href="struct_p_i_d_state.html#a1cf17dd45e85748457863776dcb28335" title="Derivative factor.">kd</a> * dError);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    state-&gt;<a class="code" href="struct_p_i_d_state.html#a16066d446d47c9e2ca1dadb75b5f439c" title="Derivative State.">la