PositionControl Class Reference

Core Position-Control for MC. More...

#include <PositionControl.hpp>

Inheritance diagram for PositionControl:

Public Member Functions
	PositionControl (ModuleParams *parent)
void	overwriteParams ()
	Overwrites certain parameters. More...
void	updateState (const PositionControlStates &states)
	Update the current vehicle state. More...
bool	updateSetpoint (const vehicle_local_position_setpoint_s &setpoint)
	Update the desired setpoints. More...
void	updateConstraints (const vehicle_constraints_s &constraints)
	Set constraints that are stricter than the global limits. More...
void	generateThrustYawSetpoint (const float dt)
	Apply P-position and PID-velocity controller that updates the member thrust, yaw- and yawspeed-setpoints. More...
void	resetIntegralXY ()
	Set the integral term in xy to 0. More...
void	resetIntegralZ ()
	Set the integral term in z to 0. More...
const matrix::Vector3f &	getThrustSetpoint ()
	Get the. More...
const float &	getYawSetpoint ()
	Get the. More...
const float &	getYawspeedSetpoint ()
	Get the. More...
const matrix::Vector3f	getVelSp ()
	Get the. More...
const matrix::Vector3f	getPosSp ()
	Get the. More...
Public Member Functions inherited from ModuleParams
	ModuleParams (ModuleParams *parent)
void	setParent (ModuleParams *parent)
	Sets the parent module. More...
	ModuleParams (const ModuleParams &)=delete
ModuleParams &	operator= (const ModuleParams &)=delete
	ModuleParams (ModuleParams &&)=delete
ModuleParams &	operator= (ModuleParams &&)=delete
Public Member Functions inherited from ListNode< ModuleParams *>
void	setSibling (ModuleParams * sibling)
const ModuleParams *	getSibling () const

Protected Member Functions
void	updateParams () override
	Call this method whenever the module gets a parameter change notification. More...
Protected Member Functions inherited from ModuleParams
virtual void	updateParamsImpl ()
	The implementation for this is generated with the macro DEFINE_PARAMETERS()

Additional Inherited Members
Protected Attributes inherited from ListNode< ModuleParams *>
ModuleParams *	_sibling

Detailed Description

Core Position-Control for MC.

This class contains P-controller for position and PID-controller for velocity. Inputs: vehicle position/velocity/yaw desired set-point position/velocity/thrust/yaw/yaw-speed constraints that are stricter than global limits Output thrust vector and a yaw-setpoint

If there is a position and a velocity set-point present, then the velocity set-point is used as feed-forward. If feed-forward is active, then the velocity component of the P-controller output has priority over the feed-forward component.

A setpoint that is NAN is considered as not set. If there is a position/velocity- and thrust-setpoint present, then the thrust-setpoint is ommitted and recomputed from position-velocity-PID-loop.

Member Function Documentation

generateThrustYawSetpoint()

void PositionControl::generateThrustYawSetpoint

(

const float

dt

)

Apply P-position and PID-velocity controller that updates the member thrust, yaw- and yawspeed-setpoints.

See also

_thr_sp

_yaw_sp

_yawspeed_sp

Parameters

dt	the delta-time

getPosSp()

const matrix::Vector3f PositionControl::getPosSp ( )

inline

Get the.

See also

_pos_sp

Returns

The position set-point that was executed in the control-loop. Nan if the position control-loop was skipped.

getThrustSetpoint()

const matrix::Vector3f& PositionControl::getThrustSetpoint ( )

inline

Get the.

See also

_thr_sp

Returns

The thrust set-point member.

getVelSp()

const matrix::Vector3f PositionControl::getVelSp ( )

inline

Get the.

See also

_vel_sp

Returns

The velocity set-point that was executed in the control-loop. Nan if velocity control-loop was skipped.

getYawSetpoint()

const float& PositionControl::getYawSetpoint ( )

inline

Get the.

See also

_yaw_sp

Returns

The yaw set-point member.

getYawspeedSetpoint()

const float& PositionControl::getYawspeedSetpoint ( )

inline

Get the.

See also

_yawspeed_sp

Returns

The yawspeed set-point member.

overwriteParams()

void PositionControl::overwriteParams

(

)

Overwrites certain parameters.

Overwrites are required for unit-conversion. This method should only be called if parameters have been updated.

resetIntegralXY()

void PositionControl::resetIntegralXY ( )

inline

Set the integral term in xy to 0.

See also

_thr_int

resetIntegralZ()

void PositionControl::resetIntegralZ ( )

inline

Set the integral term in z to 0.

See also

_thr_int

updateConstraints()

void PositionControl::updateConstraints

(

const vehicle_constraints_s &

constraints

)

Set constraints that are stricter than the global limits.

Parameters

constraints

a PositionControl structure with supported constraints

updateParams()

void PositionControl::updateParams ( )

overrideprotectedvirtual

Call this method whenever the module gets a parameter change notification.

It will automatically call updateParams() for all children, which then call updateParamsImpl().

Reimplemented from ModuleParams.

updateSetpoint()

bool PositionControl::updateSetpoint

(

const vehicle_local_position_setpoint_s &

setpoint

)

Update the desired setpoints.

Parameters

setpoint

a vehicle_local_position_setpoint_s structure

Returns

true if setpoint has updated correctly

updateState()

void PositionControl::updateState

(

const PositionControlStates &

states

)

Update the current vehicle state.

Parameters

PositionControlStates

structure

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

• src/modules/mc_pos_control/PositionControl.hpp
• src/modules/mc_pos_control/PositionControl.cpp