fdcl::control Class Reference

Controller functions for the rover. More...

#include <include/fdcl/control.hpp>

Collaboration diagram for fdcl::control:

Public Member Functions
	control (fdcl::state_t *&state_, fdcl::command_t *&command_, fdcl::param *config_file_)
void	init (void)
void	load_config (void)
void	set_error_to_zero (void)
void	attitude_control (void)
void	attitude_control_decoupled_yaw (void)
void	position_control (void)
double	get_time (void)
void	output_uav_properties (double &m, Matrix3 &J)
void	output_fM (double &f, Vector3 &M)

Public Attributes
double	t = 0.0
double	t_pre = 0.0
double	dt = 1e-9
int	freq = 100
bool	use_integral = false
fdcl::integral_error_vec3	eIR
fdcl::integral_error	eI1
fdcl::integral_error	eI2
fdcl::integral_error	eIy
fdcl::integral_error_vec3	eIX
Vector3	eR = Vector3::Zero()
Vector3	eW = Vector3::Zero()
Vector3	ei = Vector3::Zero()
Vector3	M = Vector3::Zero()
Vector3	eX = Vector3::Zero()
Vector3	eV = Vector3::Zero()
Vector3	b1 = Vector3::Zero()
Vector3	b2 = Vector3::Zero()
Vector3	b3 = Vector3::Zero()
Vector3	b3_dot = Vector3::Zero()
Eigen::Matrix< double, 4, 4 >	fM_to_forces_inv
Vector4	f_motor
Vector4	fM = Vector4::Zero()
double	f_total = 0.0

Detailed Description

Controller functions for the rover.

This class includes all the controllers used to control the rover All controller related functions for the rover are included in this class. This inlcudes two attitude controllers, a geometric controller and a decoupled-yaw controller (ACC-2019) with a geometric position controller.

Constructor & Destructor Documentation

fdcl::control::control	(	fdcl::state_t *&	state_,
		fdcl::command_t *&	command_,
		fdcl::param *	config_file_
	)

Parameters

state_	Pointer to the current states
command_	Pointer to the desired states
config_file_	Pointer to the external fdcl::param object, which is used to load configuration parameters

Member Function Documentation

void fdcl::control::attitude_control

(

void

)

Decouple-yaw controller proposed on "Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)" URL: https://arxiv.org/pdf/1003.2005.pdf

void fdcl::control::attitude_control_decoupled_yaw

(

void

)

Decouple-yaw controller proposed on "Geometric Controls of a Quadrotor with a Decoupled Yaw control" URL: https://doi.org/10.23919/ACC.2019.8815189

double fdcl::control::get_time

(

void

)

Returns the current time in seonds from the start of the class.

Returns

current time in seonds from the start of the class

void fdcl::control::init

(

void

)

Initialize the variables in the controller class

void fdcl::control::load_config

(

void

)

Loads the class parameters from the config file.

void fdcl::control::output_fM	(	double &	f,
		Vector3 &	M
	)

Outputs the control force and moments.

Parameters

f
M

void fdcl::control::output_uav_properties	(	double &	m_out,
		Matrix3 &	J_out
	)

Outputs the mass and the inertia matrix of the UAV.

Parameters

m_out
J_out

void fdcl::control::position_control

(

void

)

Position controller as proposed in "Geometric Controls of a Quadrotor with a Decoupled Yaw control"

void fdcl::control::set_error_to_zero

(

void

)

Set all integral errors to zero.

Member Data Documentation

Vector3 fdcl::control::b1 = Vector3::Zero()

Direction of the first body axis

Vector3 fdcl::control::b2 = Vector3::Zero()

Direction of the second body axis

Vector3 fdcl::control::b3 = Vector3::Zero()

Direction of the third body axis

Vector3 fdcl::control::b3_dot = Vector3::Zero()

Desired rate of change of b3 axis

double fdcl::control::dt = 1e-9

Time step size in seconds

Vector3 fdcl::control::ei = Vector3::Zero()

Position integral error

fdcl::integral_error fdcl::control::eI1

Attitude integral error for roll axis

fdcl::integral_error fdcl::control::eI2

Attitude integral error for pitch axis

fdcl::integral_error_vec3 fdcl::control::eIR

Attitude integral error

fdcl::integral_error_vec3 fdcl::control::eIX

Position integral error

fdcl::integral_error fdcl::control::eIy

Attitude integral error for yaw axis

Vector3 fdcl::control::eR = Vector3::Zero()

Attitude error

Vector3 fdcl::control::eV = Vector3::Zero()

Velocity error

Vector3 fdcl::control::eW = Vector3::Zero()

Angular rate error

Vector3 fdcl::control::eX = Vector3::Zero()

Position error

Vector4 fdcl::control::f_motor

Calculated forces required by each moter

double fdcl::control::f_total = 0.0

Total propeller thrust

Vector4 fdcl::control::fM = Vector4::Zero()

Force-moment vector

Eigen::Matrix<double, 4, 4> fdcl::control::fM_to_forces_inv

Force to force-moment conversion matrix

int fdcl::control::freq = 100

Control thread frequence

Vector3 fdcl::control::M = Vector3::Zero()

Control moments

double fdcl::control::t = 0.0

Current loop time in seconds

double fdcl::control::t_pre = 0.0

Time of the previous loop in seconds

bool fdcl::control::use_integral = false

Flag to enable/disable integral control

---

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

• cpp/include/fdcl/control.hpp