Flight_controller Class Reference

Interface for flight controllers. More...

#include <flight_controller.hpp>

Inheritance diagram for Flight_controller:

Collaboration diagram for Flight_controller:

List of all members.

Public Member Functions
virtual bool	update (void)=0
	Main update function.
virtual bool	failsafe (void)=0
	Sets actuators in safety mode.
virtual bool	set_command (const position_command_t &command)=0
	Set of command setters.
virtual bool	set_command (const velocity_command_t &command)=0
	Sets the input command.
virtual bool	set_command (const attitude_command_t &command)=0
	Sets the input command.
virtual bool	set_command (const rate_command_t &command)=0
	Sets the input command.
virtual bool	set_command (const torque_command_t &command)=0
	Sets the input command.
virtual bool	set_command (const thrust_command_t &command)=0
	Sets the input command.
virtual bool	set_manual_rate_command (const Manual_control &manual_control)=0
	Set command from manual control in rate mode.
virtual bool	set_manual_attitude_command (const Manual_control &manual_control)=0
	Set command from manual control in attitude mode.
virtual bool	set_manual_velocity_command (const Manual_control &manual_control)=0
	Set command from manual control in velocity mode.
virtual bool	set_flight_command (const Flight_command_source &command_source)
	Set command from autonomous command source.
const command_t &	command (void) const
	Get const reference to command structure.
Protected Attributes
command_t	command_

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Detailed Description

Interface for flight controllers.

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Member Function Documentation

virtual bool Flight_controller::set_command

(

const velocity_command_t &

command

)

[pure virtual]

Sets the input command.

Parameters:

command

Input command

Returns:

success

Implements Controller< velocity_command_t >.

Implemented in Flight_controller_stack.

virtual bool Flight_controller::set_command

(

const attitude_command_t &

command

)

[pure virtual]

Sets the input command.

Parameters:

command

Input command

Returns:

success

Implements Controller< attitude_command_t >.

Implemented in Flight_controller_stack.

virtual bool Flight_controller::set_command

(

const rate_command_t &

command

)

[pure virtual]

Sets the input command.

Parameters:

command

Input command

Returns:

success

Implements Controller< rate_command_t >.

Implemented in Flight_controller_stack.

virtual bool Flight_controller::set_command

(

const torque_command_t &

command

)

[pure virtual]

Sets the input command.

Parameters:

command

Input command

Returns:

success

Implements Controller< torque_command_t >.

Implemented in Flight_controller_stack.

virtual bool Flight_controller::set_command

(

const thrust_command_t &

command

)

[pure virtual]

Sets the input command.

Parameters:

command

Input command

Returns:

success

Implements Controller< thrust_command_t >.

Implemented in Flight_controller_stack.

virtual bool Flight_controller::set_flight_command

(

const Flight_command_source &

command_source

)

[inline, virtual]

Set command from autonomous command source.

Parameters:

command_source

Reference to source of control command

Here is the call graph for this function:

virtual bool Flight_controller::set_manual_attitude_command

(

const Manual_control &

manual_control

)

[pure virtual]

Set command from manual control in attitude mode.

Parameters:

manual_control

Reference to manual_control

Implemented in Flight_controller_hexhog, Flight_controller_copter< N_ROTORS >, Flight_controller_copter< 4 >, and Flight_controller_copter< 6 >.

virtual bool Flight_controller::set_manual_rate_command

(

const Manual_control &

manual_control

)

[pure virtual]

Set command from manual control in rate mode.

Parameters:

manual_control

Reference to manual_control

Implemented in Flight_controller_hexhog, Flight_controller_copter< N_ROTORS >, Flight_controller_copter< 4 >, and Flight_controller_copter< 6 >.

virtual bool Flight_controller::set_manual_velocity_command

(

const Manual_control &

manual_control

)

[pure virtual]

Set command from manual control in velocity mode.

Parameters:

manual_control

Reference to manual_control

Implemented in Flight_controller_hexhog, Flight_controller_copter< N_ROTORS >, Flight_controller_copter< 4 >, and Flight_controller_copter< 6 >.

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The documentation for this class was generated from the following file:

• /home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller.hpp