#include <ecl_controller.h>

Inheritance diagram for ECL_Controller:

Collaboration diagram for ECL_Controller:

Public Member Functions
	ECL_Controller ()

virtual	~ECL_Controller ()=default

virtual float	control_attitude (const struct ECL_ControlData &ctl_data)=0

virtual float	control_euler_rate (const struct ECL_ControlData &ctl_data)=0

virtual float	control_bodyrate (const struct ECL_ControlData &ctl_data)=0

void	set_time_constant (float time_constant)

void	set_k_p (float k_p)

void	set_k_i (float k_i)

void	set_k_ff (float k_ff)

void	set_integrator_max (float max)

void	set_max_rate (float max_rate)

void	set_bodyrate_setpoint (float rate)

float	get_rate_error ()

float	get_desired_rate ()

float	get_desired_bodyrate ()

float	get_integrator ()

void	reset_integrator ()

Protected Member Functions
float	constrain_airspeed (float airspeed, float minspeed, float maxspeed)

Protected Attributes
uint64_t	_last_run

float	_tc

float	_k_p

float	_k_i

float	_k_ff

float	_integrator_max

float	_max_rate

float	_last_output

float	_integrator

float	_rate_error

float	_rate_setpoint

float	_bodyrate_setpoint

Detailed Description

Definition at line 75 of file ecl_controller.h.

Constructor & Destructor Documentation

◆ ECL_Controller()

ECL_Controller::ECL_Controller ( )

Definition at line 54 of file ecl_controller.cpp.

◆ ~ECL_Controller()

virtual ECL_Controller::~ECL_Controller ( )

virtualdefault

Member Function Documentation

◆ constrain_airspeed()

float ECL_Controller::constrain_airspeed	(	float	airspeed,
		float	minspeed,
		float	maxspeed
	)

protected

Definition at line 132 of file ecl_controller.cpp.

References ISFINITE.

◆ control_attitude()

virtual float ECL_Controller::control_attitude ( const struct ECL_ControlData & ctl_data )

pure virtual

Implemented in ECL_PitchController, ECL_RollController, ECL_WheelController, and ECL_YawController.

◆ control_bodyrate()

virtual float ECL_Controller::control_bodyrate ( const struct ECL_ControlData & ctl_data )

pure virtual

Implemented in ECL_PitchController, ECL_RollController, ECL_WheelController, and ECL_YawController.

◆ control_euler_rate()

virtual float ECL_Controller::control_euler_rate ( const struct ECL_ControlData & ctl_data )

pure virtual

Implemented in ECL_WheelController, ECL_PitchController, ECL_RollController, and ECL_YawController.

◆ get_desired_bodyrate()

float ECL_Controller::get_desired_bodyrate ( )

Definition at line 122 of file ecl_controller.cpp.

References _bodyrate_setpoint.

Referenced by FixedwingAttitudeControl::Run().

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◆ get_desired_rate()

float ECL_Controller::get_desired_rate ( )

Definition at line 117 of file ecl_controller.cpp.

References _rate_setpoint.

Referenced by FixedwingAttitudeControl::Run().

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◆ get_integrator()

float ECL_Controller::get_integrator ( )

Definition at line 127 of file ecl_controller.cpp.

References _integrator.

Referenced by FixedwingAttitudeControl::Run().

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◆ get_rate_error()

float ECL_Controller::get_rate_error ( )

Definition at line 112 of file ecl_controller.cpp.

References _rate_error.

◆ reset_integrator()

void ECL_Controller::reset_integrator ( )

Definition at line 70 of file ecl_controller.cpp.

References _integrator.

Referenced by FixedwingAttitudeControl::Run().

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◆ set_bodyrate_setpoint()

void ECL_Controller::set_bodyrate_setpoint ( float rate )

Definition at line 107 of file ecl_controller.cpp.

References _bodyrate_setpoint, _max_rate, and math::constrain().

Referenced by ECL_YawController::control_euler_rate(), ECL_RollController::control_euler_rate(), and FixedwingAttitudeControl::Run().

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◆ set_integrator_max()

void ECL_Controller::set_integrator_max ( float max )

Definition at line 97 of file ecl_controller.cpp.

References _integrator_max, and math::max().

Referenced by FixedwingAttitudeControl::parameters_update().

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◆ set_k_ff()

void ECL_Controller::set_k_ff ( float k_ff )

Definition at line 92 of file ecl_controller.cpp.

References _k_ff.

Referenced by FixedwingAttitudeControl::parameters_update().

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◆ set_k_i()

void ECL_Controller::set_k_i ( float k_i )

Definition at line 87 of file ecl_controller.cpp.

References _k_i.

Referenced by FixedwingAttitudeControl::parameters_update().

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◆ set_k_p()

void ECL_Controller::set_k_p ( float k_p )

Definition at line 82 of file ecl_controller.cpp.

References _k_p.

Referenced by FixedwingAttitudeControl::parameters_update().

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◆ set_max_rate()

void ECL_Controller::set_max_rate ( float max_rate )

Definition at line 102 of file ecl_controller.cpp.

References _max_rate.

Referenced by FixedwingAttitudeControl::FixedwingAttitudeControl(), FixedwingAttitudeControl::parameters_update(), and FixedwingAttitudeControl::Run().

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◆ set_time_constant()

void ECL_Controller::set_time_constant ( float time_constant )

Definition at line 75 of file ecl_controller.cpp.

References _tc, and f().

Referenced by FixedwingAttitudeControl::parameters_update().

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Member Data Documentation

◆ _bodyrate_setpoint

float ECL_Controller::_bodyrate_setpoint

protected

Definition at line 114 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), ECL_YawController::control_euler_rate(), ECL_RollController::control_euler_rate(), ECL_PitchController::control_euler_rate(), get_desired_bodyrate(), ECL_PitchController::set_bodyrate_setpoint(), and set_bodyrate_setpoint().

◆ _integrator

float ECL_Controller::_integrator

protected

Definition at line 111 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), get_integrator(), and reset_integrator().

◆ _integrator_max

float ECL_Controller::_integrator_max

protected

Definition at line 108 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), and set_integrator_max().

◆ _k_ff

float ECL_Controller::_k_ff

protected

Definition at line 107 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), and set_k_ff().

◆ _k_i

float ECL_Controller::_k_i

protected

Definition at line 106 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), and set_k_i().

◆ _k_p

float ECL_Controller::_k_p

protected

Definition at line 105 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), and set_k_p().

◆ _last_output

float ECL_Controller::_last_output

protected

Definition at line 110 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_WheelController::control_bodyrate(), and ECL_PitchController::control_bodyrate().

◆ _last_run

uint64_t ECL_Controller::_last_run

protected

Definition at line 103 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_WheelController::control_bodyrate(), and ECL_PitchController::control_bodyrate().

◆ _max_rate

float ECL_Controller::_max_rate

protected

Definition at line 109 of file ecl_controller.h.

Referenced by ECL_WheelController::control_attitude(), ECL_PitchController::set_bodyrate_setpoint(), set_bodyrate_setpoint(), set_max_rate(), and ECL_PitchController::set_max_rate_pos().

◆ _rate_error

float ECL_Controller::_rate_error

protected

Definition at line 112 of file ecl_controller.h.

Referenced by ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), and get_rate_error().

◆ _rate_setpoint

float ECL_Controller::_rate_setpoint

protected

Definition at line 113 of file ecl_controller.h.

Referenced by ECL_YawController::control_attitude(), ECL_RollController::control_attitude(), ECL_WheelController::control_attitude(), ECL_PitchController::control_attitude(), ECL_YawController::control_attitude_impl_openloop(), ECL_WheelController::control_bodyrate(), ECL_YawController::control_euler_rate(), ECL_PitchController::control_euler_rate(), and get_desired_rate().

◆ _tc

float ECL_Controller::_tc

protected

Definition at line 104 of file ecl_controller.h.

Referenced by ECL_RollController::control_attitude(), ECL_WheelController::control_attitude(), ECL_PitchController::control_attitude(), and set_time_constant().

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

src/lib/ecl/attitude_fw/ecl_controller.h
src/lib/ecl/attitude_fw/ecl_controller.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ECL_Controller()

◆ ~ECL_Controller()

Member Function Documentation

◆ constrain_airspeed()

◆ control_attitude()

◆ control_bodyrate()

◆ control_euler_rate()

◆ get_desired_bodyrate()

◆ get_desired_rate()

◆ get_integrator()

◆ get_rate_error()

◆ reset_integrator()

◆ set_bodyrate_setpoint()

◆ set_integrator_max()

◆ set_k_ff()

◆ set_k_i()

◆ set_k_p()

◆ set_max_rate()

◆ set_time_constant()

Member Data Documentation

◆ _bodyrate_setpoint

◆ _integrator

◆ _integrator_max

◆ _k_ff

◆ _k_i

◆ _k_p

◆ _last_output

◆ _last_run

◆ _max_rate

◆ _rate_error

◆ _rate_setpoint

◆ _tc