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模块参考：控制器

airship_att_control

Source: modules/airship_att_control

描述

This implements the airship attitude and rate controller. Ideally it would take attitude setpoints (vehicle_attitude_setpoint) or rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.

Currently it is feeding the manual_control_setpoint topic directly to the actuators.

Implementation

To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.

Usage

  1. airship_att_control <command> [arguments...]
  2.  Commands:
  3.    start
  5.    stop
  7.    status        print status info

flight_mode_manager

Source: modules/flight_mode_manager

Description

This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input and outputs setpoints for controllers.

Usage

  1. flight_mode_manager <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

fw_att_control

Source: modules/fw_att_control

Description

fw_att_control is the fixed wing attitude controller.

Usage

  1. fw_att_control <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

fw_pos_control_l1

Source: modules/fw_pos_control_l1

Description

fw_pos_control_l1 is the fixed wing position controller.

Usage

  1. fw_pos_control_l1 <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

mc_att_control

Source: modules/mc_att_control

Description

This implements the multicopter attitude controller. It takes attitude setpoints (vehicle_attitude_setpoint) as inputs and outputs a rate setpoint.

The controller has a P loop for angular error

Publication documenting the implemented Quaternion Attitude Control: Nonlinear Quadrocopter Attitude Control (2013) by Dario Brescianini, Markus Hehn and Raffaello D’Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich

https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf

Usage

  1. mc_att_control <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

mc_pos_control

Source: modules/mc_pos_control

Description

The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).

The controller doesn’t use Euler angles for its work, they are generated only for more human-friendly control and logging.

Usage

  1. mc_pos_control <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

mc_rate_control

Source: modules/mc_rate_control

Description

This implements the multicopter rate controller. It takes rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.

The controller has a PID loop for angular rate error.

Usage

  1. mc_rate_control <command> [arguments...]
  2.  Commands:
  3.    start
  4.      [vtol]      VTOL mode
  6.    stop
  8.    status        print status info

navigator

Source: modules/navigator

Description

Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking.

Implementation

The different internal modes are implemented as separate classes that inherit from a common base class NavigatorMode. The member _navigation_mode contains the current active mode.

Navigator publishes position setpoint triplets (position_setpoint_triplet_s), which are then used by the position controller.

Usage

  1. navigator <command> [arguments...]
  2.  Commands:
  3.    start
  5.    fencefile     load a geofence file from SD card, stored at etc/geofence.txt
  7.    fake_traffic  publishes 4 fake transponder_report_s uORB messages
  9.    stop
  11.    status        print status info

rover_pos_control

Source: modules/rover_pos_control

Description

Controls the position of a ground rover using an L1 controller.

Publishes actuator_controls_0 messages at a constant 250Hz.

Implementation

Currently, this implementation supports only a few modes:

  • Full manual: Throttle and yaw controls are passed directly through to the actuators
  • Auto mission: The rover runs missions
  • Loiter: The rover will navigate to within the loiter radius, then stop the motors

Examples

CLI usage example:

  1. rover_pos_control start
  2. rover_pos_control status
  3. rover_pos_control stop

Usage

  1. rover_pos_control <command> [arguments...]
  2.  Commands:
  3.    start
  5.    stop
  7.    status        print status info

uuv_att_control

Source: modules/uuv_att_control

Description

Controls the attitude of an unmanned underwater vehicle (UUV).

Publishes actuator_controls_0 messages at a constant 250Hz.

Implementation

Currently, this implementation supports only a few modes:

  • Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
  • Auto mission: The uuv runs missions

Examples

CLI usage example:

  1. uuv_att_control start
  2. uuv_att_control status
  3. uuv_att_control stop

Usage

  1. uuv_att_control <command> [arguments...]
  2.  Commands:
  3.    start
  5.    stop
  7.    status        print status info

vtol_att_control

Source: modules/vtol_att_control

Description

fw_att_control is the fixed wing attitude controller.

Usage

  1. vtol_att_control <command> [arguments...]
  2.  Commands:
  4.    stop
  6.    status        print status info