控制器
ODULE_NAM
Source: modules/control_allocator
描述
This implements control allocation. It takes torque and thrust setpoints as inputs and outputs actuator setpoint messages.
实现
fw_att_control
This implements the multicopter attitude and rate controller. It takes attitude setpoints (vehicle_attitude_setpoint
) or rate setpoints (in acro mode via manual_control_setpoint
topic) as inputs and outputs actuator control messages.
描述
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.
参数描述
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
描述
fw_pos_control_l1
参数描述
This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input and outputs setpoints for controllers.
用法
mc_att_control
描述
fw_att_control is the fixed wing attitude controller.
用法
mc_pos_control
The controller has two loops: a P loop for angular error and a PID loop for angular rate error.
描述
fw_pos_control_l1 is the fixed wing position controller.
用法
mc_att_control
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
参数描述
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
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.
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
用法
navigator
Source: modules/mc_pos_control
参数描述
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.
实现
mc_rate_control
Source: modules/mc_rate_control
用法
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.
参数描述
navigator
Source: modules/navigator
实现
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.
示例
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.
用法
rover_pos_control
CLI 命令行用法示例:
参数描述
Controls the position of a ground rover using an L1 controller.
Publishes actuator_controls_0
messages at IMU_GYRO_RATEMAX.
实现
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
示例
CLI usage example:
用法
uuv_att_control
CLI 命令行用法示例:
参数描述
Controls the attitude of an unmanned underwater vehicle (UUV).
fw_att_control 是固定翼姿态控制器。
用法
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
Examples
CLI usage example:
Usage
uuv_pos_control
Source: modules/uuv_pos_control
Description
Controls the attitude of an unmanned underwater vehicle (UUV). Publishes actuator_controls_0
messages at a constant 250Hz.
Implementation
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
Examples
CLI usage example:
Usage
vtol_att_control
Source: modules/vtol_att_control
Description
fw_att_control is the fixed wing attitude controller.
Usage
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