DUNE: Uniform Navigational Environment
2016.09.0
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Public Attributes | |
float | act_max |
float | act_diff_max |
float | act_ramp |
float | rpm_eos |
bool | rpm_hardware |
int16_t | min_rpm |
int16_t | max_rpm |
std::vector< float > | rpm_gains |
float | rpm_ffgain |
std::vector< float > | mps_gains |
float | mps_ffgain |
float | mps_max_int |
int16_t | max_accel |
float | yaw_max |
std::vector< float > | yaw_gains |
bool | share |
std::string | eid_port |
std::string | eid_starboard |
bool | log_parcels |
float Control::ASV::HeadingAndSpeed::Arguments::act_diff_max |
Maximum Motor differential thrust.
Referenced by Control::ASV::HeadingAndSpeed::Task::consume(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::act_max |
float Control::ASV::HeadingAndSpeed::Arguments::act_ramp |
Ramp actuation limit when the value is rising in actuation per second.
Referenced by Control::ASV::HeadingAndSpeed::Task::dispatchThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().
std::string Control::ASV::HeadingAndSpeed::Arguments::eid_port |
Port Motor entity id.
Referenced by Control::ASV::HeadingAndSpeed::Task::onEntityResolution(), and Control::ASV::HeadingAndSpeed::Task::Task().
std::string Control::ASV::HeadingAndSpeed::Arguments::eid_starboard |
Starboard Motor entity id.
Referenced by Control::ASV::HeadingAndSpeed::Task::onEntityResolution(), and Control::ASV::HeadingAndSpeed::Task::Task().
bool Control::ASV::HeadingAndSpeed::Arguments::log_parcels |
Log the size of each PID parcel.
Referenced by Control::ASV::HeadingAndSpeed::Task::onEntityReservation(), Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::setup(), and Control::ASV::HeadingAndSpeed::Task::Task().
int16_t Control::ASV::HeadingAndSpeed::Arguments::max_accel |
Maximum acceleration step to smooth speed ramp in mps control.
Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().
int16_t Control::ASV::HeadingAndSpeed::Arguments::max_rpm |
Maximum value admissible for desired RPMs for the MPS controller.
Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().
int16_t Control::ASV::HeadingAndSpeed::Arguments::min_rpm |
Minimum value admissible for desired RPMs.
Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::mps_ffgain |
MPS controller feedforward gain.
Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), and Control::ASV::HeadingAndSpeed::Task::Task().
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::mps_gains |
PID gains for MPS controller.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::setup(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::mps_max_int |
Limit for the integral term.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::setup(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::rpm_eos |
End of scale value for RPM's at 100% of thurst.
Referenced by Control::ASV::HeadingAndSpeed::Task::rpmToThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::rpm_ffgain |
RPM controller feedforward gain.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::rpmToThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::rpm_gains |
PID gains for RPM controller.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::setup(), and Control::ASV::HeadingAndSpeed::Task::Task().
bool Control::ASV::HeadingAndSpeed::Arguments::rpm_hardware |
Hardware control of the motor's rpms.
Referenced by Control::ASV::HeadingAndSpeed::Task::rpmToThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().
bool Control::ASV::HeadingAndSpeed::Arguments::share |
Control logic for saturation.
Referenced by Control::ASV::HeadingAndSpeed::Task::shareSaturation(), and Control::ASV::HeadingAndSpeed::Task::Task().
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::yaw_gains |
PID gains for heading controller.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::setup(), and Control::ASV::HeadingAndSpeed::Task::Task().
float Control::ASV::HeadingAndSpeed::Arguments::yaw_max |
Maximum heading error to thrust.
Referenced by Control::ASV::HeadingAndSpeed::Task::onUpdateParameters(), Control::ASV::HeadingAndSpeed::Task::Task(), and Control::ASV::HeadingAndSpeed::Task::thrustForward().