Control::ASV::HeadingAndSpeed::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	reset (void)
void	onResourceInitialization (void)
void	consume (const IMC::EstimatedState *msg)
void	saturationAntiWindup (float thrust_inc, float ki_gain, float *thrust, float *err_integral)
void	consume (const IMC::DesiredHeading *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::ControlLoops *msg)
void	onMain (void)

Public Attributes
float	m_err_integral
float	m_err_integralV
float	m_err_derivative
float	m_err_derivativeV
float	m_prev_err_heading
float	m_prev_err_vel
float	m_dhead
float	m_dspeed
uint8_t	m_speed_units
float	m_thrust_diff
float	m_thrust_com
Delta	m_last_estate
IMC::SetThrusterActuation	m_motor [2]
float	m_scope_ref
Arguments	m_args

Constructor & Destructor Documentation

Control::ASV::HeadingAndSpeed::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::ASV::HeadingAndSpeed::Arguments::kd_heading, Control::ASV::HeadingAndSpeed::Arguments::kd_velocity, Control::ASV::HeadingAndSpeed::Arguments::ki_heading, Control::ASV::HeadingAndSpeed::Arguments::ki_velocity, Control::ASV::HeadingAndSpeed::Arguments::kp_heading, Control::ASV::HeadingAndSpeed::Arguments::kp_velocity, m_args, Control::ASV::HeadingAndSpeed::Arguments::max_motor, and Control::ASV::HeadingAndSpeed::Arguments::new_saturation.

Member Function Documentation

void Control::ASV::HeadingAndSpeed::Task::consume ( const IMC::EstimatedState *  msg )

inline

References Control::ASV::HeadingAndSpeed::Arguments::kd_heading, Control::ASV::HeadingAndSpeed::Arguments::kd_velocity, Control::ASV::HeadingAndSpeed::Arguments::ki_heading, Control::ASV::HeadingAndSpeed::Arguments::ki_velocity, Control::ASV::HeadingAndSpeed::Arguments::kp_heading, Control::ASV::HeadingAndSpeed::Arguments::kp_velocity, m_args, m_dhead, m_dspeed, m_err_derivative, m_err_derivativeV, m_err_integral, m_err_integralV, m_last_estate, m_motor, m_prev_err_heading, m_prev_err_vel, m_speed_units, m_thrust_com, m_thrust_diff, Control::ASV::HeadingAndSpeed::Arguments::max_motor, Control::ASV::HeadingAndSpeed::Arguments::new_saturation, and saturationAntiWindup().

void Control::ASV::HeadingAndSpeed::Task::consume ( const IMC::DesiredHeading *  msg )

inline

References m_dhead.

void Control::ASV::HeadingAndSpeed::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References m_dspeed, and m_speed_units.

void Control::ASV::HeadingAndSpeed::Task::consume ( const IMC::ControlLoops *  msg )

inline

References m_scope_ref, and reset().

void Control::ASV::HeadingAndSpeed::Task::onMain ( void  )

inline

void Control::ASV::HeadingAndSpeed::Task::onResourceInitialization ( void  )

inline

References reset().

void Control::ASV::HeadingAndSpeed::Task::reset ( void  )

inline

References m_dspeed, m_err_integral, m_motor, m_prev_err_heading, and m_prev_err_vel.

Referenced by consume(), and onResourceInitialization().

void Control::ASV::HeadingAndSpeed::Task::saturationAntiWindup ( float  thrust_inc, float  ki_gain, float *  thrust, float *  err_integral  )

inline

References m_args, and Control::ASV::HeadingAndSpeed::Arguments::max_motor.

Referenced by consume().

Member Data Documentation

Arguments Control::ASV::HeadingAndSpeed::Task::m_args

Referenced by consume(), saturationAntiWindup(), and Task().

float Control::ASV::HeadingAndSpeed::Task::m_dhead

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_dspeed

Referenced by consume(), and reset().

float Control::ASV::HeadingAndSpeed::Task::m_err_derivative

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_err_derivativeV

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_err_integral

Referenced by consume(), and reset().

float Control::ASV::HeadingAndSpeed::Task::m_err_integralV

Referenced by consume().

Delta Control::ASV::HeadingAndSpeed::Task::m_last_estate

Referenced by consume().

IMC::SetThrusterActuation Control::ASV::HeadingAndSpeed::Task::m_motor[2]

Referenced by consume(), and reset().

float Control::ASV::HeadingAndSpeed::Task::m_prev_err_heading

Referenced by consume(), and reset().

float Control::ASV::HeadingAndSpeed::Task::m_prev_err_vel

Referenced by consume(), and reset().

float Control::ASV::HeadingAndSpeed::Task::m_scope_ref

Control loops last reference time.

Referenced by consume().

uint8_t Control::ASV::HeadingAndSpeed::Task::m_speed_units

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_thrust_com

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_thrust_diff

Referenced by consume().

Collaboration diagram for Control::ASV::HeadingAndSpeed::Task: