rosflight_firmware::Controller Class Reference

#include <controller.h>

Inheritance diagram for rosflight_firmware::Controller:

Classes
struct	Output
class	PID

Public Member Functions
void	calculate_equilbrium_torque_from_rc ()
	Controller (ROSflight &rf)
void	init ()
const Output &	output () const
void	param_change_callback (uint16_t param_id) override
void	run ()

Private Member Functions
turbomath::Vector	run_pid_loops (uint32_t dt, const Estimator::State &state, const control_t &command, bool update_integrators)

Private Attributes
Output	output_
PID	pitch_
PID	pitch_rate_
uint64_t	prev_time_us_
ROSflight &	RF_
PID	roll_
PID	roll_rate_
PID	yaw_rate_

Detailed Description

Definition at line 49 of file controller.h.

Constructor & Destructor Documentation

Controller()

rosflight_firmware::Controller::Controller

(

ROSflight &

rf

)

Definition at line 44 of file controller.cpp.

Member Function Documentation

calculate_equilbrium_torque_from_rc()

void rosflight_firmware::Controller::calculate_equilbrium_torque_from_rc

(

)

Definition at line 102 of file controller.cpp.

init()

void rosflight_firmware::Controller::init

(

)

Definition at line 46 of file controller.cpp.

output()

const Output& rosflight_firmware::Controller::output ( ) const

inline

Definition at line 62 of file controller.h.

param_change_callback()

void rosflight_firmware::Controller::param_change_callback ( uint16_t  param_id )

overridevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 147 of file controller.cpp.

run()

void rosflight_firmware::Controller::run

(

)

Todo:

better way to figure out if throttle is high

Definition at line 69 of file controller.cpp.

run_pid_loops()

turbomath::Vector rosflight_firmware::Controller::run_pid_loops ( uint32_t  dt, const Estimator::State &  state, const control_t &  command, bool  update_integrators  )

private

Definition at line 176 of file controller.cpp.

Member Data Documentation

output_

Output rosflight_firmware::Controller::output_

private

Definition at line 100 of file controller.h.

pitch_

PID rosflight_firmware::Controller::pitch_

private

Definition at line 104 of file controller.h.

pitch_rate_

PID rosflight_firmware::Controller::pitch_rate_

private

Definition at line 105 of file controller.h.

prev_time_us_

uint64_t rosflight_firmware::Controller::prev_time_us_

private

Definition at line 108 of file controller.h.

RF_

ROSflight& rosflight_firmware::Controller::RF_

private

Definition at line 93 of file controller.h.

roll_

PID rosflight_firmware::Controller::roll_

private

Definition at line 102 of file controller.h.

roll_rate_

PID rosflight_firmware::Controller::roll_rate_

private

Definition at line 103 of file controller.h.

yaw_rate_

PID rosflight_firmware::Controller::yaw_rate_

private

Definition at line 106 of file controller.h.

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

• controller.h
• controller.cpp