Control::ASV::HeadingAndSpeed::Arguments Struct Reference

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

Member Data Documentation

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

Maximum Motor thrust.

Referenced by Control::ASV::HeadingAndSpeed::Task::dispatchThrust(), Control::ASV::HeadingAndSpeed::Task::setup(), Control::ASV::HeadingAndSpeed::Task::shareSaturation(), and Control::ASV::HeadingAndSpeed::Task::Task().

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().

Collaboration diagram for Control::ASV::HeadingAndSpeed::Arguments: