#include <ardrone_autonomy/Navdata.h>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <signal.h>
#include "geometry_msgs/Twist.h"
#include "std_msgs/Empty.h"

Include dependency graph for basic_controller_old.cpp:

Classes
struct	ControlCommand
Functions
void	basic_sigint_handler (int sig)
void	calculate_yaw_desired (double *yaw_desired, double x_desired, double y_desired, double x_mes, double y_mes)
int	main (int argc, char **argv)
void	navdataCb (const ardrone_autonomy::Navdata::ConstPtr navdataPtr)
void	odometryCb (const nav_msgs::Odometry::ConstPtr odometryPtr)
void	path_regu_altitude (double *zvel_cmd, double alt_mes, double alt_desired, double regu_new_time_z)
void	path_regu_xy (double xvel_cmd, double yvel_cmd, double x_mes, double y_mes, double x_desired, double y_desired, double yaw, double regu_new_time_xy)
void	path_regu_yaw (double *yawvel_cmd, double yaw_mes, double yaw_desired, double regu_new_time)
void	sendControlToDrone (ControlCommand cmd)
Variables
double	alt_desired_old = 0
double	anti_windup_yaw = 0.5
double	dist_old
double	integral_alt_error = 0
double	integral_f_error = 0
double	integral_l_error = 0
double	integral_xy_error = 0
double	integral_yaw_error = 0
bool	isControlling = false
double	Kd_alt = 75
double	Kd_plan = 0
double	Kd_yaw = 0
double	Ki_alt = 0
double	Ki_plan = 0
double	Ki_yaw = 40
double	Kp_alt = 0.3
double	Kp_plan = 0.6
double	Kp_yaw = 25
ros::Publisher	land_pub
double	last_vel_x_command
double	last_vel_y_command
double	last_vel_yaw_command
double	last_vel_z_command
ardrone_autonomy::Navdata	lastNavdataReceived
nav_msgs::Odometry	lastOdometryReceived
double	old_delta_alt
double	old_delta_yaw
double	old_yaw_desired = 0
double	p_term_f_old
double	p_term_l_old
double	regu_old_time_xy
double	regu_old_time_yaw
double	regu_old_time_z
ros::Publisher	vel_pub
double	x_desired_old = 0
double	y_desired_old = 0
double	yaw_desired_old = 0

Function Documentation

void basic_sigint_handler ( int sig )

Definition at line 81 of file basic_controller_old.cpp.

void calculate_yaw_desired	(	double *	yaw_desired,
		double	x_desired,
		double	y_desired,
		double	x_mes,
		double	y_mes
	)

Definition at line 245 of file basic_controller_old.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 297 of file basic_controller_old.cpp.

void navdataCb ( const ardrone_autonomy::Navdata::ConstPtr navdataPtr )

Definition at line 70 of file basic_controller_old.cpp.

void odometryCb ( const nav_msgs::Odometry::ConstPtr odometryPtr )

Definition at line 76 of file basic_controller_old.cpp.

void path_regu_altitude	(	double *	zvel_cmd,
		double	alt_mes,
		double	alt_desired,
		double	regu_new_time_z
	)

Definition at line 101 of file basic_controller_old.cpp.

void path_regu_xy	(	double *	xvel_cmd,
		double *	yvel_cmd,
		double	x_mes,
		double	y_mes,
		double	x_desired,
		double	y_desired,
		double	yaw,
		double	regu_new_time_xy
	)