Controllers
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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.
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
This implements control allocation. It takes torque and thrust setpoints as inputs and outputs actuator setpoint messages.
This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input and outputs setpoints for controllers.
fw_att_control is the fixed wing attitude controller.
fw_pos_control is the fixed-wing position controller.
fw_rate_control is the fixed-wing rate controller.
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
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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.
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.
Controls the position of a ground rover using an L1 controller.
Publishes vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw) messages at IMU_GYRO_RATEMAX.
Currently, this implementation supports only a few modes:
Full manual: Throttle and yaw controls are passed directly through to the actuators
Auto mission: The rover runs missions
Loiter: The rover will navigate to within the loiter radius, then stop the motors
CLI usage example:
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes vehicle_thrust_setpont and vehicle_torque_setpoint messages at a constant 250Hz.
Currently, this implementation supports only a few modes:
Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
Auto mission: The uuv runs missions
CLI usage example:
Controls the attitude of an unmanned underwater vehicle (UUV). Publishes attitude_setpoint messages.
Currently, this implementation supports only a few modes:
Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
Auto mission: The uuv runs missions
CLI usage example:
fw_att_control is the fixed wing attitude controller.
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