This implements the airship attitude and rate controller. Ideally it would take attitude setpoints (vehicle_attitude_setpoint) or rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.
Currently it is feeding the manual_control_setpoint topic directly to the actuators.
Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
Usage
airship_att_control <command> [arguments...]
Commands:
start
stop
status print status info
This implements the multicopter attitude controller. It takes attitude setpoints (vehicle_attitude_setpoint) as inputs and outputs a rate setpoint.
The controller has a P loop for angular error
Publication documenting the implemented Quaternion Attitude Control: Nonlinear Quadrocopter Attitude Control (2013) by Dario Brescianini, Markus Hehn and Raffaello D'Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich
The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and logging.
This implements the multicopter rate controller. It takes rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.
The controller has a PID loop for angular rate error.
Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking.
Implementation
The different internal modes are implemented as separate classes that inherit from a common base class NavigatorMode. The member _navigation_mode contains the current active mode.
Navigator publishes position setpoint triplets (position_setpoint_triplet_s), which are then used by the position controller.
control_allocator <command> [arguments...]
Commands:
start
stop
status print status info
flight_mode_manager <command> [arguments...]
Commands:
start
stop
status print status info
fw_att_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
fw_pos_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
fw_rate_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
mc_att_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
mc_pos_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
mc_rate_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
stop
status print status info
navigator <command> [arguments...]
Commands:
start
fencefile load a geofence file from SD card, stored at etc/geofence.txt
fake_traffic publishes 4 fake transponder_report_s uORB messages
stop
status print status info
rover_pos_control start
rover_pos_control status
rover_pos_control stop
rover_pos_control <command> [arguments...]
Commands:
start
stop
status print status info
uuv_att_control start
uuv_att_control status
uuv_att_control stop
uuv_att_control <command> [arguments...]
Commands:
start
stop
status print status info
uuv_pos_control start
uuv_pos_control status
uuv_pos_control stop
uuv_pos_control <command> [arguments...]
Commands:
start
stop
status print status info
vtol_att_control <command> [arguments...]
Commands:
stop
status print status info
