AttitudeControl Class Reference

#include <AttitudeControl.hpp>

Collaboration diagram for AttitudeControl:

Public Member Functions
	AttitudeControl ()=default
	~AttitudeControl ()=default
void	setProportionalGain (const matrix::Vector3f &proportional_gain)
	Set proportional attitude control gain. More...
void	setRateLimit (const matrix::Vector3f &rate_limit)
	Set hard limit for output rate setpoints. More...
matrix::Vector3f	update (matrix::Quatf q, matrix::Quatf qd, float yawspeed_feedforward)
	Run one control loop cycle calculation. More...

Private Attributes
matrix::Vector3f	_proportional_gain
matrix::Vector3f	_rate_limit
float	_yaw_w = 0.0f
	yaw weight [0,1] to prioritize roll and pitch More...

Detailed Description

Definition at line 53 of file AttitudeControl.hpp.

Constructor & Destructor Documentation

AttitudeControl()

AttitudeControl::AttitudeControl ( )

default

~AttitudeControl()

AttitudeControl::~AttitudeControl ( )

default

Member Function Documentation

setProportionalGain()

void AttitudeControl::setProportionalGain

(

const matrix::Vector3f &

proportional_gain

)

Set proportional attitude control gain.

Parameters

proportional_gain

3D vector containing gains for roll, pitch, yaw

Definition at line 45 of file AttitudeControl.cpp.

References math::constrain(), and f().

Referenced by MulticopterAttitudeControl::parameters_updated().

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setRateLimit()

void AttitudeControl::setRateLimit ( const matrix::Vector3f &  rate_limit )

inline

Set hard limit for output rate setpoints.

Parameters

rate_limit

[rad/s] 3D vector containing limits for roll, pitch, yaw

Definition at line 69 of file AttitudeControl.hpp.

References _rate_limit, and update().

Referenced by MulticopterAttitudeControl::parameters_updated().

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update()

matrix::Vector3f AttitudeControl::update	(	matrix::Quatf	q,
		matrix::Quatf	qd,
		float	yawspeed_feedforward
	)

Run one control loop cycle calculation.

Parameters

q	estimation of the current vehicle attitude unit quaternion
qd	desired vehicle attitude setpoint
yawspeed_feedforward	[rad/s] yaw feed forward angular rate in world frame

Returns

[rad/s] body frame 3D angular rate setpoint vector to be executed by the rate controller

Definition at line 56 of file AttitudeControl.cpp.

References math::constrain(), matrix::Quaternion< Type >::dcm_z(), matrix::Matrix< Type, M, N >::emult(), f(), matrix::Quaternion< Type >::imag(), matrix::Quaternion< Type >::inversed(), matrix::Vector< Type, M >::normalize(), and math::signNoZero().

Referenced by MulticopterAttitudeControl::control_attitude(), setRateLimit(), and TEST().

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Member Data Documentation

_proportional_gain

matrix::Vector3f AttitudeControl::_proportional_gain

private

Definition at line 81 of file AttitudeControl.hpp.

_rate_limit

matrix::Vector3f AttitudeControl::_rate_limit

private

Definition at line 82 of file AttitudeControl.hpp.

Referenced by setRateLimit().

_yaw_w

float AttitudeControl::_yaw_w = 0.0f

private

yaw weight [0,1] to prioritize roll and pitch

Definition at line 83 of file AttitudeControl.hpp.

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

• src/modules/mc_att_control/AttitudeControl/AttitudeControl.hpp
• src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp