AP_SteerController Class Reference

#include <AP_SteerController.h>

Collaboration diagram for AP_SteerController:

Public Member Functions
	AP_SteerController (AP_AHRS &ahrs)
	AP_SteerController (const AP_SteerController &other)=delete
AP_SteerController &	operator= (const AP_SteerController &)=delete
int32_t	get_steering_out_lat_accel (float desired_accel)
int32_t	get_steering_out_rate (float desired_rate)
int32_t	get_steering_out_angle_error (int32_t angle_err)
float	get_turn_radius (void) const
void	reset_I ()
const DataFlash_Class::PID_Info &	get_pid_info (void) const
void	set_reverse (bool reverse)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Attributes
AP_Float	_tau
AP_Float	_K_FF
AP_Float	_K_P
AP_Float	_K_I
AP_Float	_K_D
AP_Float	_minspeed
AP_Int16	_imax
uint32_t	_last_t
float	_last_out
AP_Float	_deratespeed
AP_Float	_deratefactor
AP_Float	_mindegree
DataFlash_Class::PID_Info	_pid_info {}
AP_AHRS &	_ahrs
bool	_reverse

Detailed Description

Definition at line 8 of file AP_SteerController.h.

Constructor & Destructor Documentation

AP_SteerController() [1/2]

AP_SteerController::AP_SteerController ( AP_AHRS &  ahrs )

inline

Definition at line 10 of file AP_SteerController.h.

Here is the call graph for this function:

AP_SteerController() [2/2]

AP_SteerController::AP_SteerController ( const AP_SteerController &  other )

delete

Member Function Documentation

get_pid_info()

const DataFlash_Class::PID_Info& AP_SteerController::get_pid_info ( void  ) const

inline

Definition at line 49 of file AP_SteerController.h.

get_steering_out_angle_error()

int32_t AP_SteerController::get_steering_out_angle_error

(

int32_t

angle_err

)

Definition at line 230 of file AP_SteerController.cpp.

Referenced by AP_SteerController().

Here is the call graph for this function:

Here is the caller graph for this function:

get_steering_out_lat_accel()

int32_t AP_SteerController::get_steering_out_lat_accel

(

float

desired_accel

)

Definition at line 210 of file AP_SteerController.cpp.

Referenced by AP_SteerController().

Here is the call graph for this function:

Here is the caller graph for this function:

get_steering_out_rate()

int32_t AP_SteerController::get_steering_out_rate

(

float

desired_rate

)

Definition at line 123 of file AP_SteerController.cpp.

Referenced by AP_SteerController(), get_steering_out_angle_error(), and get_steering_out_lat_accel().

Here is the call graph for this function:

Here is the caller graph for this function:

get_turn_radius()

float AP_SteerController::get_turn_radius ( void  ) const

inline

Definition at line 43 of file AP_SteerController.h.

Here is the call graph for this function:

operator=()

AP_SteerController& AP_SteerController::operator= ( const AP_SteerController &  )

delete

Referenced by AP_SteerController().

Here is the caller graph for this function:

reset_I()

void AP_SteerController::reset_I

(

)

Definition at line 242 of file AP_SteerController.cpp.

Referenced by get_turn_radius().

Here is the caller graph for this function:

set_reverse()

void AP_SteerController::set_reverse ( bool  reverse )

inline

Definition at line 51 of file AP_SteerController.h.

Member Data Documentation

_ahrs

AP_AHRS& AP_SteerController::_ahrs

private

Definition at line 72 of file AP_SteerController.h.

Referenced by get_steering_out_lat_accel(), and get_steering_out_rate().

_deratefactor

AP_Float AP_SteerController::_deratefactor

private

Definition at line 67 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_deratespeed

AP_Float AP_SteerController::_deratespeed

private

Definition at line 66 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_imax

AP_Int16 AP_SteerController::_imax

private

Definition at line 62 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_K_D

AP_Float AP_SteerController::_K_D

private

Definition at line 60 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_K_FF

AP_Float AP_SteerController::_K_FF

private

Definition at line 57 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_K_I

AP_Float AP_SteerController::_K_I

private

Definition at line 59 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_K_P

AP_Float AP_SteerController::_K_P

private

Definition at line 58 of file AP_SteerController.h.

Referenced by get_steering_out_rate(), and get_turn_radius().

_last_out

float AP_SteerController::_last_out

private

Definition at line 64 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_last_t

uint32_t AP_SteerController::_last_t

private

Definition at line 63 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_mindegree

AP_Float AP_SteerController::_mindegree

private

Definition at line 68 of file AP_SteerController.h.

Referenced by get_steering_out_rate().

_minspeed

AP_Float AP_SteerController::_minspeed

private

Definition at line 61 of file AP_SteerController.h.

Referenced by get_steering_out_lat_accel(), and get_steering_out_rate().

_pid_info

DataFlash_Class::PID_Info AP_SteerController::_pid_info {}

private

Definition at line 70 of file AP_SteerController.h.

Referenced by get_pid_info(), get_steering_out_rate(), and reset_I().

_reverse

bool AP_SteerController::_reverse

private

Definition at line 74 of file AP_SteerController.h.

Referenced by get_steering_out_lat_accel(), get_steering_out_rate(), and set_reverse().

_tau

AP_Float AP_SteerController::_tau

private

Definition at line 56 of file AP_SteerController.h.

Referenced by get_steering_out_angle_error(), and get_steering_out_rate().

var_info

const AP_Param::GroupInfo AP_SteerController::var_info

static

Definition at line 47 of file AP_SteerController.h.

Referenced by AP_SteerController().

---

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

• libraries/APM_Control/AP_SteerController.h
• libraries/APM_Control/AP_SteerController.cpp