Base class for cascade style controller hierarchy. More...

#include <flight_controller_stack.hpp>

Inheritance diagram for Flight_controller_stack:

Collaboration diagram for Flight_controller_stack:

Public Types
typedef Controller < position_command_t, velocity_command_t >	pos_ctrl_t
	Alias for required type of position controller.
typedef Controller_1_to_2 < velocity_command_t, attitude_command_t, thrust_command_t >	vel_ctrl_t
	Alias for required type of velocity controller.
typedef Controller < attitude_command_t, rate_command_t >	att_ctrl_t
	Alias for required type of attitude controller.
typedef Controller < rate_command_t, torque_command_t >	rate_ctrl_t
	Alias for required type of rate controller.
typedef Servos_mix	mix_ctrl_t
	Alias for required type of servo mixing controller.
Public Member Functions
	Flight_controller_stack (pos_ctrl_t &pos_ctrl, vel_ctrl_t &vel_ctrl, att_ctrl_t &att_ctrl, rate_ctrl_t &rate_ctrl, mix_ctrl_t &mix_ctrl)
	Constructor.
virtual bool	update (void)
	Main update function.
bool	failsafe (void)
	Sets actuators in safety mode.
bool	set_command (const position_command_t &position)
	Set of command setters.
bool	set_command (const velocity_command_t &velocity)
	Sets the input command.
bool	set_command (const attitude_command_t &attitude)
	Sets the input command.
bool	set_command (const rate_command_t &rate)
	Sets the input command.
bool	set_command (const torque_command_t &torque)
	Sets the input command.
bool	set_command (const thrust_command_t &thrust)
	Sets the input command.
bool	get_command (position_command_t &position) const
	Set of command getters.
bool	get_command (velocity_command_t &velocity) const
	Returns the input command.
bool	get_command (attitude_command_t &attitude) const
	Returns the input command.
bool	get_command (rate_command_t &rate) const
	Returns the input command.
bool	get_command (torque_command_t &torque) const
	Returns the input command.
bool	get_command (thrust_command_t &thrust) const
	Returns the input command.
bool	get_output (empty_command_t &command) const
	Returns the output command.
Protected Member Functions
bool	update_in_thrust_and_torque_mode (void)
	Main update function when in thrust + torque mode.
bool	update_in_thrust_and_rate_mode (void)
	Main update function when in thrust + rate mode.
bool	update_in_thrust_and_attitude_mode (void)
	Main update function when in thrust + attitude mode.
bool	update_in_velocity_mode (void)
	Main update function when in velocity mode.
bool	update_in_position_mode (void)
	Main update function when in position mode.
Protected Attributes
command_t	command_
	Flight commands.

Detailed Description

Base class for cascade style controller hierarchy.

Constructor & Destructor Documentation

Flight_controller_stack::Flight_controller_stack	(	pos_ctrl_t &	pos_ctrl,
		vel_ctrl_t &	vel_ctrl,
		att_ctrl_t &	att_ctrl,
		rate_ctrl_t &	rate_ctrl,
		mix_ctrl_t &	mix_ctrl
	)

Constructor.

Parameters:

pos_ctrl	Reference to the position controller
vel_ctrl	Reference to the velocity controller
att_ctrl	Reference to the attitude controller
rate_ctrl	Reference to the rate controller
mix_ctrl	Reference to the mixing controller

Member Function Documentation

bool Flight_controller_stack::get_command ( velocity_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

Returns:: success

Implements Controller< velocity_command_t >.

Here is the call graph for this function:

bool Flight_controller_stack::get_command ( attitude_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

Returns:: success

Implements Controller< attitude_command_t >.

Here is the call graph for this function:

bool Flight_controller_stack::get_command ( rate_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

Returns:: success

Implements Controller< rate_command_t >.

Here is the call graph for this function:

bool Flight_controller_stack::get_command ( torque_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

Returns:: success

Implements Controller< torque_command_t >.

Here is the call graph for this function:

bool Flight_controller_stack::get_command ( thrust_command_t & command ) const [virtual]

Returns the input command.

Parameters:

command Input command

Returns:: success

Implements Controller< thrust_command_t >.

Here is the call graph for this function:

bool Flight_controller_stack::get_output ( empty_command_t & command ) const [virtual]

Returns the output command.

Parameters:

command output command

Returns:: success

Implements Controller< torque_command_t >.

bool Flight_controller_stack::set_command ( const position_command_t & position ) [virtual]

Set of command setters.

Based on the type of the provided command, the control mode will be changed and used in following calls to update

Implements Flight_controller.

Here is the call graph for this function:

Here is the caller graph for this function:

bool Flight_controller_stack::set_command ( const velocity_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

Returns:: success

Implements Flight_controller.

Here is the call graph for this function:

bool Flight_controller_stack::set_command ( const attitude_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

Returns:: success

Implements Flight_controller.

Here is the call graph for this function:

bool Flight_controller_stack::set_command ( const rate_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

Returns:: success

Implements Flight_controller.

Here is the call graph for this function:

bool Flight_controller_stack::set_command ( const torque_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

Returns:: success

Implements Flight_controller.

Here is the call graph for this function:

bool Flight_controller_stack::set_command ( const thrust_command_t & command ) [virtual]

Sets the input command.

Parameters:

command Input command

Returns:: success

Implements Flight_controller.

Here is the call graph for this function:

bool Flight_controller_stack::update ( void ) [virtual]

Main update function.

Updates recursively the layers of control. The highest active layer is determined by the type of the last command

Implements Flight_controller.

Here is the call graph for this function:

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

/home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller_stack.hpp
/home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller_stack.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation