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

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onEntityResolution (void)
void	onActivation (void)
void	onDeactivation (void)
void	reset (void)
void	setup (void)
void	onResourceInitialization (void)
void	consume (const IMC::Abort *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::DesiredHeading *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::Rpm *msg)
float	rpmToThrust (float rpm, float desired_rpm, double timestep)
float	mpsToRpm (float vel, double timestep)
void	dispatchThrust (float value, double timestep, uint8_t id)
bool	thrustForward (float yaw_err)
void	shareSaturation (void)
void	onMain (void)

Public Attributes
DiscretePID	m_rpm_pid
DiscretePID	m_mps_pid
DiscretePID	m_yaw_pid
IMC::ControlParcel	m_parcel_mps
IMC::ControlParcel	m_parcel_rpm
IMC::ControlParcel	m_parcel_yaw
float	m_desired_yaw
float	m_desired_speed
uint8_t	m_speed_units
Delta	m_delta
IMC::SetThrusterActuation	m_act [2]
IMC::SetThrusterActuation	m_last_act [2]
IMC::Rpm	m_rpm [2]
float	m_previous_rpm
bool	m_common
uint16_t	m_rpm_eid [2]
uint32_t	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::act_diff_max, Control::ASV::HeadingAndSpeed::Arguments::act_max, Control::ASV::HeadingAndSpeed::Arguments::act_ramp, Control::ASV::HeadingAndSpeed::Arguments::eid_port, Control::ASV::HeadingAndSpeed::Arguments::eid_starboard, Control::ASV::HeadingAndSpeed::Arguments::log_parcels, m_args, m_desired_speed, m_speed_units, Control::ASV::HeadingAndSpeed::Arguments::max_accel, Control::ASV::HeadingAndSpeed::Arguments::max_rpm, Control::ASV::HeadingAndSpeed::Arguments::min_rpm, Control::ASV::HeadingAndSpeed::Arguments::mps_ffgain, Control::ASV::HeadingAndSpeed::Arguments::mps_gains, Control::ASV::HeadingAndSpeed::Arguments::mps_max_int, Control::ASV::HeadingAndSpeed::Arguments::rpm_eos, Control::ASV::HeadingAndSpeed::Arguments::rpm_ffgain, Control::ASV::HeadingAndSpeed::Arguments::rpm_gains, Control::ASV::HeadingAndSpeed::Arguments::rpm_hardware, Control::ASV::HeadingAndSpeed::Arguments::share, Control::ASV::HeadingAndSpeed::Arguments::yaw_gains, and Control::ASV::HeadingAndSpeed::Arguments::yaw_max.

Member Function Documentation

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

inline

References reset().

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

inline

References Control::ASV::HeadingAndSpeed::Arguments::act_diff_max, dispatchThrust(), m_act, m_args, m_delta, m_desired_speed, m_desired_yaw, m_previous_rpm, m_rpm, m_speed_units, m_yaw_pid, mpsToRpm(), rpmToThrust(), shareSaturation(), and thrustForward().

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

inline

References m_desired_yaw.

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

inline

References m_desired_speed, 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::consume ( const IMC::Rpm *  msg )

inline

References m_rpm, and m_rpm_eid.

void Control::ASV::HeadingAndSpeed::Task::dispatchThrust ( float  value, double  timestep, uint8_t  id  )

inline

Dispatch to bus SetThrusterActuation message.

Parameters

[in]	value	set thrust actuation value
[in]	timestep	amount of time since last control step

References Control::ASV::HeadingAndSpeed::Arguments::act_max, Control::ASV::HeadingAndSpeed::Arguments::act_ramp, m_act, m_args, m_last_act, and DUNE::Math::trimValue().

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::mpsToRpm ( float  vel, double  timestep  )

inline

Convert meters per second to a desired rpm value.

Parameters

[in]	vel	absolute ground velocity.
[in]	timestep	amount of time since last control step.

Returns

desired rpm value.

References m_args, m_desired_speed, m_mps_pid, m_parcel_mps, m_previous_rpm, Control::ASV::HeadingAndSpeed::Arguments::max_accel, Control::ASV::HeadingAndSpeed::Arguments::max_rpm, Control::ASV::HeadingAndSpeed::Arguments::min_rpm, and Control::ASV::HeadingAndSpeed::Arguments::mps_ffgain.

Referenced by consume().

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

inline

On activation.

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

inline

On deactivation.

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

inline

Reserve entities.

References Control::ASV::HeadingAndSpeed::Arguments::log_parcels, m_args, m_parcel_mps, m_parcel_rpm, and m_parcel_yaw.

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

inline

Resolve entities.

References Control::ASV::HeadingAndSpeed::Arguments::eid_port, Control::ASV::HeadingAndSpeed::Arguments::eid_starboard, m_args, and m_rpm_eid.

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

inline

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

inline

References reset().

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

inline

References Control::ASV::HeadingAndSpeed::Arguments::log_parcels, m_args, Control::ASV::HeadingAndSpeed::Arguments::mps_ffgain, Control::ASV::HeadingAndSpeed::Arguments::mps_gains, Control::ASV::HeadingAndSpeed::Arguments::mps_max_int, reset(), Control::ASV::HeadingAndSpeed::Arguments::rpm_ffgain, Control::ASV::HeadingAndSpeed::Arguments::rpm_gains, setup(), Control::ASV::HeadingAndSpeed::Arguments::yaw_gains, and Control::ASV::HeadingAndSpeed::Arguments::yaw_max.

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

inline

Reset PIDs and actuation references.

References m_act, m_last_act, m_mps_pid, m_previous_rpm, m_rpm_pid, and m_yaw_pid.

Referenced by consume(), onResourceInitialization(), and onUpdateParameters().

float Control::ASV::HeadingAndSpeed::Task::rpmToThrust ( float  rpm, float  desired_rpm, double  timestep  )

inline

Convert rpm value to thrust actuation.

Parameters

[in]	rpm	value of rpms currently in the motor
[in]	desired_rpm	desired rpms for the motor
[in]	timestep	amount of time since last control step

Returns

common thrust actuation.

References m_args, m_parcel_rpm, m_rpm_pid, Control::ASV::HeadingAndSpeed::Arguments::rpm_eos, Control::ASV::HeadingAndSpeed::Arguments::rpm_ffgain, and Control::ASV::HeadingAndSpeed::Arguments::rpm_hardware.

Referenced by consume().

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

inline

Setup PIDs.

References Control::ASV::HeadingAndSpeed::Arguments::act_max, Control::ASV::HeadingAndSpeed::Arguments::log_parcels, m_args, m_mps_pid, m_parcel_mps, m_parcel_rpm, m_parcel_yaw, m_rpm_pid, m_yaw_pid, Control::ASV::HeadingAndSpeed::Arguments::mps_gains, Control::ASV::HeadingAndSpeed::Arguments::mps_max_int, Control::ASV::HeadingAndSpeed::Arguments::rpm_gains, and Control::ASV::HeadingAndSpeed::Arguments::yaw_gains.

Referenced by onUpdateParameters().

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

inline

Distribute actuation references if over-saturated.

References Control::ASV::HeadingAndSpeed::Arguments::act_max, m_act, m_args, and Control::ASV::HeadingAndSpeed::Arguments::share.

Referenced by consume().

bool Control::ASV::HeadingAndSpeed::Task::thrustForward ( float  yaw_err )

inline

Check if we are facing our waypoint to thrust.

Parameters

[in]

yaw_err

yaw error.

Returns

true to thrust forward, false otherwise.

References m_args, m_common, and Control::ASV::HeadingAndSpeed::Arguments::yaw_max.

Referenced by consume().

Member Data Documentation

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

Current motor actuation.

Referenced by consume(), dispatchThrust(), reset(), and shareSaturation().

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

Task arguments.

Referenced by consume(), dispatchThrust(), mpsToRpm(), onEntityReservation(), onEntityResolution(), onUpdateParameters(), rpmToThrust(), setup(), shareSaturation(), Task(), and thrustForward().

bool Control::ASV::HeadingAndSpeed::Task::m_common

Apply common actuation.

Referenced by thrustForward().

Delta Control::ASV::HeadingAndSpeed::Task::m_delta

Time of last estimated state message.

Referenced by consume().

float Control::ASV::HeadingAndSpeed::Task::m_desired_speed

Desired speed.

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

float Control::ASV::HeadingAndSpeed::Task::m_desired_yaw

Desired heading.

Referenced by consume().

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

Last motor actuation.

Referenced by dispatchThrust(), and reset().

DiscretePID Control::ASV::HeadingAndSpeed::Task::m_mps_pid

MPS PID controller.

Referenced by mpsToRpm(), reset(), and setup().

IMC::ControlParcel Control::ASV::HeadingAndSpeed::Task::m_parcel_mps

Control Parcels for meters per second controller.

Referenced by mpsToRpm(), onEntityReservation(), and setup().

IMC::ControlParcel Control::ASV::HeadingAndSpeed::Task::m_parcel_rpm

Control Parcels for rpm controller.

Referenced by onEntityReservation(), rpmToThrust(), and setup().

IMC::ControlParcel Control::ASV::HeadingAndSpeed::Task::m_parcel_yaw

Control Parcels for yaw controller.

Referenced by onEntityReservation(), and setup().

float Control::ASV::HeadingAndSpeed::Task::m_previous_rpm

previous value of the desired rpm speed

Referenced by consume(), mpsToRpm(), and reset().

IMC::Rpm Control::ASV::HeadingAndSpeed::Task::m_rpm[2]

Motor rpm.

Referenced by consume().

uint16_t Control::ASV::HeadingAndSpeed::Task::m_rpm_eid[2]

Motor rpm entity id.

Referenced by consume(), and onEntityResolution().

DiscretePID Control::ASV::HeadingAndSpeed::Task::m_rpm_pid

RPM PID controller.

Referenced by reset(), rpmToThrust(), and setup().

uint32_t Control::ASV::HeadingAndSpeed::Task::m_scope_ref

Control loops last reference.

Referenced by consume().

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

Desired speed units.

Referenced by consume(), and Task().

DiscretePID Control::ASV::HeadingAndSpeed::Task::m_yaw_pid

YAW PID controller.

Referenced by consume(), reset(), and setup().

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