Manual_control Class Reference

The manual control structure. More...

#include <manual_control.hpp>

Collaboration diagram for Manual_control:

List of all members.

Classes
struct	conf_t
	Configuration for manual control. More...
Public Types
enum	mode_source_t { MODE_SOURCE_REMOTE = 0, MODE_SOURCE_GND_STATION = 1, MODE_SOURCE_JOYSTICK = 2 }
	The source mode enum.
enum	control_source_t { CONTROL_SOURCE_REMOTE = 0, CONTROL_SOURCE_NONE = 1, CONTROL_SOURCE_JOYSTICK = 2 }
	Control source.
Public Member Functions
	Manual_control (Satellite *sat, conf_t config, remote_conf_t remote_config)
	Constructor.
float	throttle () const
	Selects the source input and returns the throttle.
float	roll () const
	Selects the source input and returns the roll.
float	pitch () const
	Selects the source input and returns the pitch.
float	yaw () const
	Selects the source input and returns the yaw.
void	get_torque_command (torque_command_t &command, float scale_roll=1.0f, float scale_pitch=1.0f, float scale_yaw=1.0f) const
	Compute torque command from the manual input.
void	get_rate_command (rate_command_t &command, float scale_roll=1.0f, float scale_pitch=1.0f, float scale_yaw=1.0f) const
	Compute rate command from the manual input.
void	get_thrust_command_copter (thrust_command_t &command, float scale=1.0f) const
	Compute thrust command from the manual input.
void	get_thrust_command_wing (thrust_command_t &command, float scale=1.0f) const
	Compute thrust command from the manual input.
void	get_attitude_command_absolute_yaw (attitude_command_t &command, float scale_roll=1.0f, float scale_pitch=1.0f, float scale_yaw=1.0f) const
	Compute attitude command from the manual input (absolute angles)
void	get_attitude_command (attitude_command_t &command, const quat_t &current_attitude, float scale_roll=1.0f, float scale_pitch=1.0f, float scale_yaw=0.5f) const
	Compute attitude command from manual control source (absolute roll and pitch, relative yaw)
void	get_attitude_command_vtol (attitude_command_t &command, const quat_t &current_attitude, float reference_pitch, float scale_roll=1.0f, float scale_pitch=1.0f, float scale_yaw=0.25f) const
	Compute attitude command from the manual input (absolute roll and pitch, integrated yaw)
void	get_velocity_command_copter (velocity_command_t &command, const quat_t &current_attitude, const velocity_command_t &current_velocity_command, float scale_x=10.0f, float scale_y=10.0f, float scale_z=1.5f, float scale_heading=0.25f) const
	Compute velocity command from the manual input.
Mav_mode	get_mode_from_source (Mav_mode mode_current)
	Returns the value of the mode from the desired source input.
void	set_mode_of_source (Mav_mode mode_current)
	Sets the internal state of the joystick.
signal_quality_t	get_signal_strength ()
	Returns the quality of the strength of the remote receiver.
void	set_mode_source (mode_source_t mode_source)
	Set the mode source (which control source can change the mode (remote, joystick, groundstation))
mode_source_t	mode_source () const
	Return the mode source (which control source can change the mode (remote, joystick, groundstation))
void	set_control_source (control_source_t control_source)
	Set the control source (which control source has control (remote, joystick, none))
control_source_t	control_source () const
	Return the control source (which control source has control (remote, joystick, none))
Static Public Member Functions
static conf_t	default_config ()
Public Attributes
remote_t	remote
	The pointer to the remote structure.
Joystick	joystick
	The pointer to the joystick structure.
mode_source_t	mode_source_
	The source mode.
control_source_t	control_source_
	Flag to tell whether the remote is active or not.

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Detailed Description

The manual control structure.

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Constructor & Destructor Documentation

Manual_control::Manual_control	(	Satellite *	sat,
		conf_t	config,
		remote_conf_t	remote_config
	)

Constructor.

Parameters:

config	The pointer to the configuration structure of the module
remote_config	The pointer to the remote structure

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Member Function Documentation

control_source_t Manual_control::control_source

(

)

const [inline]

Return the control source (which control source has control (remote, joystick, none))

Returns:

control_source which control source has control (remote, joystick, none)

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void Manual_control::get_attitude_command	(	attitude_command_t &	command,
		const quat_t &	current_attitude,
		float	scale_roll = 1.0f,
		float	scale_pitch = 1.0f,
		float	scale_yaw = 0.5f
	)		const

Compute attitude command from manual control source (absolute roll and pitch, relative yaw)

Yaw is relative to current yaw (command.yaw = current.yaw + 0.5 * input.yaw)

Parameters:

command	Attitude command (output)
current_attitude	Current attitude of the vehicle
scale_roll	Scale (maximum output / max remote input)
scale_pitch	Scale (maximum output / max remote input)
scale_yaw	Scale (maximum output / max remote input)

Returns:

command

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void Manual_control::get_attitude_command_absolute_yaw	(	attitude_command_t &	command,
		float	scale_roll = 1.0f,
		float	scale_pitch = 1.0f,
		float	scale_yaw = 1.0f
	)		const

Compute attitude command from the manual input (absolute angles)

Parameters:

command	Attitude command (output)
scale_roll	Scale (maximum output / max remote input)
scale_pitch	Scale (maximum output / max remote input)
scale_yaw	Scale (maximum output / max remote input)

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void Manual_control::get_attitude_command_vtol	(	attitude_command_t &	command,
		const quat_t &	current_attitude,
		float	reference_pitch,
		float	scale_roll = 1.0f,
		float	scale_pitch = 1.0f,
		float	scale_yaw = 0.25f
	)		const

Compute attitude command from the manual input (absolute roll and pitch, integrated yaw)

Parameters:

command	Attitude command (output)
current_attitude	Current attitude of the vehicle
reference_pitch	Transition factor (0: forward flight, PI/2:hover)
scale_roll	Scale (maximum output / max remote input)
scale_pitch	Scale (maximum output / max remote input)
scale_yaw	Scale (maximum output / max remote input)

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Mav_mode Manual_control::get_mode_from_source

(

Mav_mode

mode_current

)

Returns the value of the mode from the desired source input.

Parameters:

mode_current

The current mode of the MAV

Returns:

The value of the mode

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void Manual_control::get_rate_command	(	rate_command_t &	command,
		float	scale_roll = 1.0f,
		float	scale_pitch = 1.0f,
		float	scale_yaw = 1.0f
	)		const

Compute rate command from the manual input.

Parameters:

command	Rate command (output)
scale_roll	Scale (maximum output / max remote input)
scale_pitch	Scale (maximum output / max remote input)
scale_yaw	Scale (maximum output / max remote input)

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signal_quality_t Manual_control::get_signal_strength

(

)

Returns the quality of the strength of the remote receiver.

Returns:

The current status of the remote controller

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void Manual_control::get_thrust_command_copter	(	thrust_command_t &	command,
		float	scale = 1.0f
	)		const

Compute thrust command from the manual input.

Parameters:

command	Thrust command (output)
scale	Scale

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void Manual_control::get_thrust_command_wing	(	thrust_command_t &	command,
		float	scale = 1.0f
	)		const

Compute thrust command from the manual input.

Parameters:

command	Thrust command (output)
scale	Scale

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void Manual_control::get_torque_command	(	torque_command_t &	command,
		float	scale_roll = 1.0f,
		float	scale_pitch = 1.0f,
		float	scale_yaw = 1.0f
	)		const

Compute torque command from the manual input.

Parameters:

command	Torque command (output)
scale_roll	Scale (maximum output / max remote input)
scale_pitch	Scale (maximum output / max remote input)
scale_yaw	Scale (maximum output / max remote input)

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void Manual_control::get_velocity_command_copter	(	velocity_command_t &	command,
		const quat_t &	current_attitude,
		const velocity_command_t &	current_velocity_command,
		float	scale_x = 10.0f,
		float	scale_y = 10.0f,
		float	scale_z = 1.5f,
		float	scale_heading = 0.25f
	)		const

Compute velocity command from the manual input.

Parameters:

command	Velocity command (output)
current_attitude	Current attitude of the vehicle
current_velocity_command	Current velocity command
scale_x	Scale (maximum output / max remote input)
scale_y	Scale (maximum output / max remote input)
scale_z	Scale (maximum output / max remote input)

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mode_source_t Manual_control::mode_source

(

)

const [inline]

Return the mode source (which control source can change the mode (remote, joystick, groundstation))

Returns:

mode_source which control source can change the mode (remote, joystick, groundstation)

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float Manual_control::pitch

(

)

const

Selects the source input and returns the pitch.

Returns:

The value of the thrust depending on the source input

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float Manual_control::roll

(

)

const

Selects the source input and returns the roll.

Returns:

The value of the thrust depending on the source input

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void Manual_control::set_control_source

(

control_source_t

control_source

)

[inline]

Set the control source (which control source has control (remote, joystick, none))

Parameters:

control_source

which control source has control (remote, joystick, none)

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void Manual_control::set_mode_of_source

(

Mav_mode

mode_current

)

Sets the internal state of the joystick.

only mode of joystick is overwritten, remote keeps its interal state

Parameters:

mode_current

The current mode of the MAV

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void Manual_control::set_mode_source

(

mode_source_t

mode_source

)

[inline]

Set the mode source (which control source can change the mode (remote, joystick, groundstation))

Parameters:

mode_source

which control source can change the mode (remote, joystick, groundstation)

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float Manual_control::throttle

(

)

const

Selects the source input and returns the throttle.

Returns:

The value of the thrust depending on the source input

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float Manual_control::yaw

(

)

const

Selects the source input and returns the yaw.

Returns:

The value of the thrust depending on the source input

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

• /home/travis/build/lis-epfl/MAVRIC_Library/manual_control/manual_control.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/manual_control/manual_control.cpp