pid_height.cpp File Reference

#include "quad_height/pid_height.h"
#include <math.h>
#include "mav_msgs/Height.h"
#include <Eigen/Eigen>
#include <Eigen/LU>
#include <std_msgs/Float64.h>

Include dependency graph for pid_height.cpp:

Go to the source code of this file.

Defines
#define	_delta   6.74
#define	_Ts   0.1
Typedefs
typedef Eigen::Matrix< double, 4, 4 >	MetState
typedef Eigen::Matrix< double, 4, 1 >	VecState
Functions
double	PID_height (double desired_height, Height_str Height, double height_gain[5], double t, double Mass, double roll, double pitch, ros::Publisher AccZ_pub)
int	ThrustConversion (double AccZ, double Mass)
void	ZKalman_Init ()
double	ZKalman_newZMeasurement (double z, double zdd)
Variables
MetState	A
VecState	B
Eigen::Matrix< double, 1, 4 >	C
double	d_term
double	i_error = 0
double	i_term
bool	initialized = false
Eigen::Matrix< double, 4, 1 >	K
double	Meas
MetState	P
double	p_term
MetState	Q
double	R
double	resid
double	ThrustCoefA = 0.102613151321317
double	ThrustCoefB = 3.352893193381934
double	ThrustMax = 23.2472
double	ThrustMin = 6.5241
double	U = 0
VecState	xhat

---

Define Documentation

#define _delta   6.74

Definition at line 11 of file pid_height.cpp.

#define _Ts   0.1

Definition at line 10 of file pid_height.cpp.

---

Typedef Documentation

typedef Eigen::Matrix<double, 4, 4> MetState

Definition at line 30 of file pid_height.cpp.

typedef Eigen::Matrix<double, 4, 1> VecState

Definition at line 29 of file pid_height.cpp.

---

Function Documentation

double PID_height	(	double	desired_height,
		Height_str	Height,
		double	height_gain[5],
		double	t,
		double	Mass,
		double	roll,
		double	pitch,
		ros::Publisher	AccZ_pub
	)

Definition at line 91 of file pid_height.cpp.

int ThrustConversion	(	double	AccZ,
		double	Mass
	)

Definition at line 81 of file pid_height.cpp.

void ZKalman_Init

(

void

)

Definition at line 39 of file pid_height.cpp.

double ZKalman_newZMeasurement	(	double	z,
		double	zdd
	)

Definition at line 60 of file pid_height.cpp.

---

Variable Documentation

MetState A

Definition at line 33 of file pid_height.cpp.

VecState B

Definition at line 32 of file pid_height.cpp.

Eigen::Matrix<double, 1, 4> C

Definition at line 35 of file pid_height.cpp.

double d_term

Definition at line 16 of file pid_height.cpp.

double i_error = 0

Definition at line 21 of file pid_height.cpp.

double i_term

Definition at line 16 of file pid_height.cpp.

bool initialized = false

Definition at line 13 of file pid_height.cpp.

Eigen::Matrix<double, 4, 1> K

Definition at line 34 of file pid_height.cpp.

double Meas

Definition at line 36 of file pid_height.cpp.

MetState P

Definition at line 33 of file pid_height.cpp.

double p_term

Definition at line 16 of file pid_height.cpp.

MetState Q

Definition at line 33 of file pid_height.cpp.

double R

Definition at line 36 of file pid_height.cpp.

double resid

Definition at line 36 of file pid_height.cpp.

double ThrustCoefA = 0.102613151321317

Definition at line 19 of file pid_height.cpp.

double ThrustCoefB = 3.352893193381934

Definition at line 20 of file pid_height.cpp.

double ThrustMax = 23.2472

Definition at line 17 of file pid_height.cpp.

double ThrustMin = 6.5241

Definition at line 18 of file pid_height.cpp.

double U = 0

Definition at line 22 of file pid_height.cpp.

VecState xhat

Definition at line 32 of file pid_height.cpp.