Velocity controller for hovering platforms. More...

#include <velocity_controller.hpp>

Inheritance diagram for Velocity_controller:

Collaboration diagram for Velocity_controller:

Classes
struct	args_t
	Required arguments. More...
struct	conf_t
	Velocity controller configuration. More...
Public Types
enum	control_frame_t { LOCAL_FRAME = 0, SEMILOCAL_FRAME = 1, BODY_FRAME = 2 }
	Reference frame in which the control is done. More...
Public Member Functions
	Velocity_controller (const args_t &args, const conf_t &config)
	Constructor.
bool	update (void)
	Main update function.
bool	set_command (const velocity_command_t &vel)
	Sets the input command.
bool	get_command (velocity_command_t &vel) const
	Returns the input command.
bool	get_output (attitude_command_t &att) const
	Returns the output command.
bool	get_output (thrust_command_t &thrust) const
	Returns the output command.
pid_controller_t &	get_pid_X (void)
	Gives acces to internal pid_controller.
pid_controller_t &	get_pid_Y (void)
pid_controller_t &	get_pid_Z (void)
Protected Member Functions
virtual bool	compute_attitude_and_thrust_from_desired_accel (const std::array< float, 3 > &accel_vector, attitude_command_t &attitude_command, thrust_command_t &thrust_command)=0
	Computes attitude and thrust command based on desired acceleration. Depends on robot dynamics.
Protected Attributes
const AHRS &	ahrs_
	Pointer to attitude estimation (input)
const INS &	ins_
	Speed and position estimation (input)
velocity_command_t &	velocity_command_
	Velocity command (input)
attitude_command_t &	attitude_command_
	Attitude command (output)
thrust_command_t &	thrust_command_
	Thrust command (output)
control_frame_t	control_frame_
	Reference frame in which the control is don.
pid_controller_t	pid_ [3]
	PID controller for velocity along X, Y and Z in global frame.

Detailed Description

Velocity controller for hovering platforms.

Member Enumeration Documentation

enum Velocity_controller::control_frame_t

Reference frame in which the control is done.

Enumerator:

LOCAL_FRAME	Local (NED frame)
SEMILOCAL_FRAME	Semilocal frame (ie. NED rotated with current heading)
BODY_FRAME	Body frame.

Constructor & Destructor Documentation

Velocity_controller::Velocity_controller	(	const args_t &	args,
		const conf_t &	config
	)

Constructor.

Parameters:

args	Required arguments
config	Configuration

Member Function Documentation

virtual bool Velocity_controller::compute_attitude_and_thrust_from_desired_accel	(	const std::array< float, 3 > &	accel_vector,
		attitude_command_t &	attitude_command,
		thrust_command_t &	thrust_command
	)		`[protected, pure virtual]`