#include <AC_PosControl_Sub.h>
Inheritance diagram for AC_PosControl_Sub:
Collaboration diagram for AC_PosControl_Sub:
Public Member Functions | |
| AC_PosControl_Sub (const AP_AHRS_View &ahrs, const AP_InertialNav &inav, const AP_Motors &motors, AC_AttitudeControl &attitude_control) | |
| void | set_alt_max (float alt) |
| void | set_alt_min (float alt) |
| void | set_alt_target_from_climb_rate (float climb_rate_cms, float dt, bool force_descend) override |
| void | set_alt_target_from_climb_rate_ff (float climb_rate_cms, float dt, bool force_descend) override |
 Public Member Functions inherited from AC_PosControl | |
| AC_PosControl (const AP_AHRS_View &ahrs, const AP_InertialNav &inav, const AP_Motors &motors, AC_AttitudeControl &attitude_control) | |
| Constructor. More... | |
| void | set_dt (float delta_sec) |
| set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025) More... | |
| float | get_dt () const |
| void | set_speed_z (float speed_down, float speed_up) |
| float | get_speed_up () const |
| get_speed_up - accessor for current up speed in cm/s More... | |
| float | get_speed_down () const |
| get_speed_down - accessors for current down speed in cm/s. Will be a negative number More... | |
| float | get_vel_target_z () const |
| get_vel_target_z - returns current vertical speed in cm/s More... | |
| void | set_accel_z (float accel_cmss) |
| set_accel_z - set vertical acceleration in cm/s/s More... | |
| float | get_accel_z () const |
| get_accel_z - returns current vertical acceleration in cm/s/s More... | |
| void | calc_leash_length_z () |
| void | set_alt_target (float alt_cm) |
| set_alt_target - set altitude target in cm above home More... | |
| void | set_alt_target_with_slew (float alt_cm, float dt) |
| void | add_takeoff_climb_rate (float climb_rate_cms, float dt) |
| void | set_alt_target_to_current_alt () |
| set_alt_target_to_current_alt - set altitude target to current altitude More... | |
| void | shift_alt_target (float z_cm) |
| shift altitude target (positive means move altitude up) More... | |
| void | relax_alt_hold_controllers (float throttle_setting) |
| relax_alt_hold_controllers - set all desired and targets to measured More... | |
| float | get_alt_target () const |
| float | get_alt_error () const |
| get_alt_error - returns altitude error in cm More... | |
| float | get_horizontal_error () const |
| void | set_target_to_stopping_point_z () |
| set_target_to_stopping_point_z - sets altitude target to reasonable stopping altitude in cm above home More... | |
| void | get_stopping_point_z (Vector3f &stopping_point) const |
| get_stopping_point_z - calculates stopping point based on current position, velocity, vehicle acceleration More... | |
| void | init_takeoff () |
| init_takeoff - initialises target altitude if we are taking off More... | |
| bool | is_active_z () const |
| void | update_z_controller () |
| update_z_controller - fly to altitude in cm above home More... | |
| float | get_leash_down_z () const |
| float | get_leash_up_z () const |
| float | get_lean_angle_max_cd () const |
| get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request More... | |
| void | init_xy_controller (bool reset_I=true) |
| void | set_accel_xy (float accel_cmss) |
| set_accel_xy - set horizontal acceleration in cm/s/s More... | |
| float | get_accel_xy () const |
| void | set_speed_xy (float speed_cms) |
| set_speed_xy - set horizontal speed maximum in cm/s More... | |
| float | get_speed_xy () const |
| void | set_limit_accel_xy (void) |
| void | calc_leash_length_xy () |
| void | set_leash_length_xy (float leash) |
| set the horizontal leash length More... | |
| const Vector3f & | get_pos_target () const |
| get_pos_target - get target as position vector (from home in cm) More... | |
| void | set_pos_target (const Vector3f &position) |
| set_pos_target in cm from home More... | |
| void | set_xy_target (float x, float y) |
| set_xy_target in cm from home More... | |
| void | shift_pos_xy_target (float x_cm, float y_cm) |
| shift position target target in x, y axis More... | |
| const Vector3f & | get_desired_velocity () |
| get_desired_velocity - returns xy desired velocity (i.e. feed forward) in cm/s in lat and lon direction More... | |
| void | set_desired_velocity_z (float vel_z_cms) |
| set_desired_velocity_z - sets desired velocity in cm/s in z axis More... | |
| void | clear_desired_velocity_ff_z () |
| void | set_desired_accel_xy (float accel_lat_cms, float accel_lon_cms) |
| void | set_desired_velocity_xy (float vel_lat_cms, float vel_lon_cms) |
| void | set_desired_velocity (const Vector3f &des_vel) |
| void | override_vehicle_velocity_xy (const Vector2f &vel_xy) |
| void | freeze_ff_z () |
| freeze_ff_z - used to stop the feed forward being calculated during a known discontinuity More... | |
| bool | is_active_xy () const |
| void | update_xy_controller (float ekfNavVelGainScaler) |
| update_xy_controller - run the horizontal position controller - should be called at 100hz or higher More... | |
| void | set_target_to_stopping_point_xy () |
| set_target_to_stopping_point_xy - sets horizontal target to reasonable stopping position in cm from home More... | |
| void | get_stopping_point_xy (Vector3f &stopping_point) const |
| float | get_distance_to_target () const |
| get_distance_to_target - get horizontal distance to position target in cm (used for reporting) More... | |
| int32_t | get_bearing_to_target () const |
| get_bearing_to_target - get bearing to target position in centi-degrees More... | |
| void | init_vel_controller_xyz () |
| xyz velocity controller More... | |
| void | update_vel_controller_xy (float ekfNavVelGainScaler) |
| void | update_vel_controller_xyz (float ekfNavVelGainScaler) |
| float | get_roll () const |
| get desired roll, pitch which should be fed into stabilize controllers More... | |
| float | get_pitch () const |
| float | get_leash_xy () const |
| AC_P & | get_pos_z_p () |
| get pid controllers More... | |
| AC_P & | get_vel_z_p () |
| AC_PID & | get_accel_z_pid () |
| AC_P & | get_pos_xy_p () |
| AC_PID_2D & | get_vel_xy_pid () |
| const Vector3f & | get_vel_target () const |
| accessors for reporting More... | |
| const Vector3f & | get_accel_target () const |
| void | accel_to_lean_angles (float accel_x_cmss, float accel_y_cmss, float &roll_target, float &pitch_target) const |
| void | lean_angles_to_accel (float &accel_x_cmss, float &accel_y_cmss) const |
| float | time_since_last_xy_update () const |
| void | write_log () |
Private Attributes | |
| float | _alt_max |
| float | _alt_min |
Additional Inherited Members | |
| Static Public Attributes inherited from AC_PosControl | |
| static const struct AP_Param::GroupInfo | var_info [] |
| Protected Member Functions inherited from AC_PosControl | |
| void | run_z_controller () |
| void | desired_accel_to_vel (float nav_dt) |
| move velocity target using desired acceleration More... | |
| void | desired_vel_to_pos (float nav_dt) |
| desired_vel_to_pos - move position target using desired velocities More... | |
| void | run_xy_controller (float dt, float ekfNavVelGainScaler) |
| float | calc_leash_length (float speed_cms, float accel_cms, float kP) const |
| calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain More... | |
| void | init_ekf_xy_reset () |
| initialise and check for ekf position resets More... | |
| void | check_for_ekf_xy_reset () |
| check for ekf position reset and adjust loiter or brake target position More... | |
| void | init_ekf_z_reset () |
| initialise ekf z axis reset check More... | |
| void | check_for_ekf_z_reset () |
| check for ekf position reset and adjust loiter or brake target position More... | |
| Static Protected Member Functions inherited from AC_PosControl | |
| static bool | limit_vector_length (float &vector_x, float &vector_y, float max_length) |
| limit vector to a given length, returns true if vector was limited More... | |
| static Vector3f | sqrt_controller (const Vector3f &error, float p, float second_ord_lim) |
| Proportional controller with piecewise sqrt sections to constrain second derivative. More... | |
| Protected Attributes inherited from AC_PosControl | |
| struct AC_PosControl::poscontrol_flags | _flags |
| struct AC_PosControl::poscontrol_limit_flags | _limit |
| const AP_AHRS_View & | _ahrs |
| const AP_InertialNav & | _inav |
| const AP_Motors & | _motors |
| AC_AttitudeControl & | _attitude_control |
| AP_Float | _accel_xy_filt_hz |
| AP_Float | _lean_angle_max |
| AC_P | _p_pos_z |
| AC_P | _p_vel_z |
| AC_PID | _pid_accel_z |
| AC_P | _p_pos_xy |
| AC_PID_2D | _pid_vel_xy |
| float | _dt |
| uint32_t | _last_update_xy_ms |
| uint32_t | _last_update_z_ms |
| float | _speed_down_cms |
| float | _speed_up_cms |
| float | _speed_cms |
| float | _accel_z_cms |
| float | _accel_last_z_cms |
| float | _accel_cms |
| float | _leash |
| float | _leash_down_z |
| float | _leash_up_z |
| float | _roll_target |
| float | _pitch_target |
| Vector3f | _pos_target |
| Vector3f | _pos_error |
| Vector3f | _vel_desired |
| Vector3f | _vel_target |
| Vector3f | _vel_error |
| Vector3f | _vel_last |
| Vector3f | _accel_desired |
| Vector3f | _accel_target |
| Vector3f | _accel_error |
| Vector2f | _vehicle_horiz_vel |
| float | _distance_to_target |
| LowPassFilterFloat | _vel_error_filter |
| LowPassFilterVector2f | _accel_target_filter |
| uint32_t | _ekf_xy_reset_ms |
| uint32_t | _ekf_z_reset_ms |
Detailed Description
Definition at line 5 of file AC_PosControl_Sub.h.
Constructor & Destructor Documentation
◆ AC_PosControl_Sub()
| AC_PosControl_Sub::AC_PosControl_Sub | ( | const AP_AHRS_View & | ahrs, |
| const AP_InertialNav & | inav, | ||
| const AP_Motors & | motors, | ||
| AC_AttitudeControl & | attitude_control | ||
| ) |
Definition at line 3 of file AC_PosControl_Sub.cpp.
Member Function Documentation
◆ set_alt_max()
|
inline |
set_alt_max - sets maximum altitude above the ekf origin in cm only enforced when set_alt_target_from_climb_rate is used set to zero to disable limit
Definition at line 13 of file AC_PosControl_Sub.h.
◆ set_alt_min()
|
inline |
set_alt_min - sets the minimum altitude (maximum depth) in cm only enforced when set_alt_target_from_climb_rate is used set to zero to disable limit
Definition at line 18 of file AC_PosControl_Sub.h.
Here is the call graph for this function:
◆ set_alt_target_from_climb_rate()
|
overridevirtual |
set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s should be called continuously (with dt set to be the expected time between calls) actual position target will be moved no faster than the speed_down and speed_up target will also be stopped if the motors hit their limits or leash length is exceeded set force_descend to true during landing to allow target to move low enough to slow the motors
set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s should be called continuously (with dt set to be the expected time between calls) actual position target will be moved no faster than the speed_down and speed_up target will also be stopped if the motors hit their limits or leash length is exceeded
Reimplemented from AC_PosControl.
Definition at line 14 of file AC_PosControl_Sub.cpp.
Referenced by set_alt_min().
Here is the caller graph for this function:
◆ set_alt_target_from_climb_rate_ff()
|
overridevirtual |
set_alt_target_from_climb_rate_ff - adjusts target up or down using a climb rate in cm/s using feed-forward should be called continuously (with dt set to be the expected time between calls) actual position target will be moved no faster than the speed_down and speed_up target will also be stopped if the motors hit their limits or leash length is exceeded set force_descend to true during landing to allow target to move low enough to slow the motors
Reimplemented from AC_PosControl.
Definition at line 45 of file AC_PosControl_Sub.cpp.
Referenced by set_alt_min().
Here is the call graph for this function:
Here is the caller graph for this function:
Member Data Documentation
◆ _alt_max
|
private |
Definition at line 35 of file AC_PosControl_Sub.h.
Referenced by set_alt_max(), set_alt_target_from_climb_rate(), and set_alt_target_from_climb_rate_ff().
◆ _alt_min
|
private |
Definition at line 36 of file AC_PosControl_Sub.h.
Referenced by set_alt_min(), set_alt_target_from_climb_rate(), and set_alt_target_from_climb_rate_ff().
The documentation for this class was generated from the following files:
- libraries/AC_AttitudeControl/AC_PosControl_Sub.h
- libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
