Using of PID functions from arm_math.h


I have a questions about using PID regulator functions from arm_math.h library.

In that lib there are 3 different types of handling PID regulator:

- arm_pid_f32(),

- arm_pid_q31(),

- arm_pid_q15().

My questions are:

1. In which case to use which regulator?

2. My case is: I need to use PID regulator to control current generated from PWM signal by regulate Duty Cycle of that PWM. Which of those 3 PID types is the best for that implementation?

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