A basic position controller. More...

#include <controller.h>

Public Member Functions
	BasicController ()
	Service method.
void	controlLoop ()
void	init ()
bool	startControl (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
	Service method: (set hover mode and) take off and start the controller.
bool	stopControl (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
	Service method: stop the controller and land (and set hover mode)
	~BasicController ()
	Destructor.
Private Member Functions
void	poseCb (const ucl_drone::Pose3D::ConstPtr posePtr)
	Callback when pose is received.
void	poseRefCb (const ucl_drone::PoseRef::ConstPtr poseRefPtr)
	Callback when new pose ref is received.
void	reguAltitude (double *zvel_cmd, double alt_mes, double alt_desired, double regu_new_time_z)
void	reguXY (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	reguYaw (double *yawvel_cmd, double yaw_mes, double yaw_desired, double regu_new_time)
void	sendVelToDrone (double pitch, double roll, double yaw_vel, double zvel_cmd, bool force=false)
Private Attributes
double	alt_desired_old
float	alt_ref
	Reference.
double	anti_windup_yaw
std::string	control_channel
double	dist_old
double	integral_alt_error
double	integral_f_error
double	integral_l_error
double	integral_xy_error
double	integral_yaw_error
bool	isControlling
	is true if the controller is running
double	Kd_alt
double	Kd_plan
double	Kd_yaw
double	Ki_alt
double	Ki_plan
double	Ki_yaw
double	Kp_alt
double	Kp_plan
double	Kp_yaw
std::string	land_channel
ros::Publisher	land_pub
double	last_vel_x_command
double	last_vel_y_command
double	last_vel_yaw_command
double	last_vel_z_command
ucl_drone::Pose3D	lastPoseReceived
	Measure.
ucl_drone::PoseRef	lastPoseRefReceived
	Pose desired.
ros::NodeHandle	nh
double	old_delta_alt
double	old_delta_yaw
double	old_yaw_desired
double	p_term_f_old
double	p_term_l_old
std::string	pose_channel
ros::Subscriber	pose_sub
std::string	poseref_channel
ros::Subscriber	poseref_sub
double	regu_old_time_xy
double	regu_old_time_yaw
double	regu_old_time_z
std::string	reset_channel
ros::Publisher	reset_pub
ros::ServiceServer	startControl_
	Service to set a new Pose.
ros::ServiceServer	stopControl_
	Service to stop regulation and land.
std::string	takeoff_channel
ros::Publisher	takeoff_pub
std::string	toggleState_channel
ros::Publisher	toggleState_pub
ros::Publisher	vel_pub
double	x_desired_old
double	x_ref
double	y_desired_old
double	y_ref
double	yaw_desired_old
double	yaw_ref

Detailed Description

A basic position controller.

Definition at line 39 of file controller.h.

Constructor & Destructor Documentation

BasicController::BasicController ( )

Service method.

Contructor.

Definition at line 20 of file controller.cpp.

BasicController::~BasicController ( )

Destructor.

Definition at line 116 of file controller.cpp.

Member Function Documentation

void BasicController::controlLoop ( )

Definition at line 373 of file controller.cpp.

void BasicController::init ( )

void BasicController::poseCb ( const ucl_drone::Pose3D::ConstPtr posePtr ) [private]

Callback when pose is received.

Definition at line 359 of file controller.cpp.

void BasicController::poseRefCb ( const ucl_drone::PoseRef::ConstPtr poseRefPtr ) [private]

Callback when new pose ref is received.

Definition at line 366 of file controller.cpp.

void BasicController::reguAltitude	(	double *	zvel_cmd,
		double	alt_mes,
		double	alt_desired,
		double	regu_new_time_z
	)		`[private]`

Definition at line 216 of file controller.cpp.

void BasicController::reguXY	(	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
	)		`[private]`