Class PolynomialThrustMap

Class Documentation

class PolynomialThrustMap

Polynomial thrust map class.

Computes throttle command from thrust and voltage by evaluating: throttle = a + b * T + c * V + d * T^2 + e * T * V + f * V^2

Public Functions

inline explicit PolynomialThrustMap(unsigned int n_motors)

Construct a PolynomialThrustMap with zero-initialized coefficients.

Parameters:

n_motors – Number of motors of the platform.

inline explicit PolynomialThrustMap(unsigned int n_motors, double max_throttle, double min_throttle, double a, double b, double c, double d, double e, double f, double gamma2, double gamma1, double gamma0, bool use_correction_factor, as2::AerialPlatform *platform_node_ptr)

Construct a PolynomialThrustMap with given coefficients.

Parameters:

  • n_motors – Number of motors of the platform.

  • max_throttle – Maximum throttle value for normalized output.

  • min_throttle – Minimum throttle value for normalized output.

  • a – Constant coefficient of the throttle polynomial.

  • b – Linear thrust coefficient of the throttle polynomial.

  • c – Linear voltage coefficient of the throttle polynomial.

  • d – Quadratic thrust coefficient of the throttle polynomial.

  • e – Cross (thrust * voltage) coefficient of the throttle polynomial.

  • f – Quadratic voltage coefficient of the throttle polynomial.

  • gamma2 – Quadratic coefficient of the voltage correction factor polynomial.

  • gamma1 – Linear coefficient of the voltage correction factor polynomial.

  • gamma0 – Constant coefficient of the voltage correction factor polynomial.

  • use_correction_factor – Whether to apply the voltage correction factor.

  • platform_node_ptr – Pointer to the aerial platform node.

std::string to_string() const

Return string with thrust map parameters for logging.

Returns:

String with thrust map parameters.

template<typename T>
T getParameter(std::string param_name) const

Read a ROS 2 parameter from platform config file, declaring it if not yet set.

Template Parameters:

T – Type to cast the parameter value to.

Parameters:

param_name – Name of the ROS 2 parameter to read.

Returns:

The parameter value cast to type T.

void set_parameters(double max_throttle, double min_throttle, double a, double b, double c, double d, double e, double f, bool use_correction_factor, double gamma2, double gamma1, double gamma0)

Set all thrust map parameters.

void readParameters()

Read and load all polynomial coefficients from config file.

void initialize(as2::AerialPlatform *platform_node_ptr)

Initialize the thrust map with a pointer to the aerial platform node.

Parameters:

platform_node_ptr – Pointer to the aerial platform node.

double mapThrust(double thrust, double voltage)

Compute a throttle command from thrust and voltage.

Parameters:

  • thrust – Desired thrust in Newtons.

  • voltage – Current battery voltage in Volts.

Returns:

Throttle command in the calibrated range.

uint16_t getThrottle_useconds(double thrust, double voltage)

Compute the throttle command in microseconds from thrust and voltage.

Parameters:

  • thrust – Desired thrust in Newtons.

  • voltage – Current battery voltage in Volts.

Returns:

Throttle command in microseconds (us).

double getThrottle_normalized(double thrust, double voltage)

Compute the normalized throttle command from thrust and voltage.

Parameters:

  • thrust – Desired thrust in Newtons.

  • voltage – Current battery voltage in Volts.

Returns:

Normalized throttle command in the specified throttle range.

Protected Attributes

as2::AerialPlatform *platform_node_ptr_

Friends

inline friend std::ostream &operator<<(std::ostream &os, const PolynomialThrustMap &tm)