Control::AUV::Attitude::Arguments Struct Reference

Public Attributes
std::vector< float >	gains [LP_MAX_LOOPS]
float	max_int [LP_MAX_LOOPS]
float	max_fin_rot
bool	roll_control_enabled
float	max_pitch_act
float	max_pitch
float	extra_pitch
float	zref_extra
bool	use_depth_offset
float	depth_offset
bool	force_pitch
float	surface_pitch
float	max_hrate
bool	hrate_oloop
bool	error_attitude
bool	log_parcels
float	min_dvl_alt
float	min_dvl_depth
float	depth_threshold
RollCompensation	rc
int	sampling_rate_relation
std::vector< float >	vref_filt_weights
bool	altitude_control

Member Data Documentation

altitude_control

bool Control::AUV::Attitude::Arguments::altitude_control

Enable dedicated altitude controller.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

depth_offset

float Control::AUV::Attitude::Arguments::depth_offset

Depth offset value if set.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

depth_threshold

float Control::AUV::Attitude::Arguments::depth_threshold

Depth threshold to be considered surface.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

error_attitude

bool Control::AUV::Attitude::Arguments::error_attitude

Error attitude compensation.

Referenced by Control::AUV::Attitude::Task::depthControl(), Control::AUV::Attitude::Task::headingControl(), Control::AUV::Attitude::Task::onEstimatedState(), and Control::AUV::Attitude::Task::Task().

extra_pitch

float Control::AUV::Attitude::Arguments::extra_pitch

Extra pitch reference beyond maximum.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

force_pitch

bool Control::AUV::Attitude::Arguments::force_pitch

Force positive pitch while at the surface.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

gains

std::vector<float> Control::AUV::Attitude::Arguments::gains[LP_MAX_LOOPS]

PID controller gains.

Referenced by Control::AUV::Attitude::Task::headingControl(), Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

hrate_oloop

bool Control::AUV::Attitude::Arguments::hrate_oloop

Heading rate in open loop.

Referenced by Control::AUV::Attitude::Task::headingControl(), and Control::AUV::Attitude::Task::Task().

log_parcels

bool Control::AUV::Attitude::Arguments::log_parcels

Log PID gain parcels.

Referenced by Control::AUV::Attitude::Task::depthControl(), Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onEntityReservation(), and Control::AUV::Attitude::Task::Task().

max_fin_rot

float Control::AUV::Attitude::Arguments::max_fin_rot

Maximum fin rotation.

Referenced by Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onEstimatedState(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

max_hrate

float Control::AUV::Attitude::Arguments::max_hrate

Maximum heading rate reference for heading controller.

Referenced by Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

max_int

float Control::AUV::Attitude::Arguments::max_int[LP_MAX_LOOPS]

PID integral limits.

Referenced by Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

max_pitch

float Control::AUV::Attitude::Arguments::max_pitch

Maximum pitch reference for depth controller.

Referenced by Control::AUV::Attitude::Task::depthControl(), Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

max_pitch_act

float Control::AUV::Attitude::Arguments::max_pitch_act

Maximum pitch actuation.

Referenced by Control::AUV::Attitude::Task::initializePIDs(), Control::AUV::Attitude::Task::onEstimatedState(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

min_dvl_alt

float Control::AUV::Attitude::Arguments::min_dvl_alt

Altitude value below which altitude from DVL will be ignored.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

min_dvl_depth

float Control::AUV::Attitude::Arguments::min_dvl_depth

Depth value below which altitude from DVL will be ignored.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

rc

RollCompensation Control::AUV::Attitude::Arguments::rc

Roll speed compensation.

Referenced by Control::AUV::Attitude::Task::onUpdateParameters(), Control::AUV::Attitude::Task::rollControl(), and Control::AUV::Attitude::Task::Task().

roll_control_enabled

bool Control::AUV::Attitude::Arguments::roll_control_enabled

Enable or disable roll controller.

Referenced by Control::AUV::Attitude::Task::onEstimatedState(), and Control::AUV::Attitude::Task::Task().

sampling_rate_relation

int Control::AUV::Attitude::Arguments::sampling_rate_relation

Referenced by Control::AUV::Attitude::Task::depthControl(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

surface_pitch

float Control::AUV::Attitude::Arguments::surface_pitch

Pitch value when forced at surface.

Referenced by Control::AUV::Attitude::Task::depthControl(), Control::AUV::Attitude::Task::onUpdateParameters(), and Control::AUV::Attitude::Task::Task().

use_depth_offset

bool Control::AUV::Attitude::Arguments::use_depth_offset

Use a fixed depth offset.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

vref_filt_weights

std::vector<float> Control::AUV::Attitude::Arguments::vref_filt_weights

Weights of the vertical reference filter.

Referenced by Control::AUV::Attitude::Task::onResourceAcquisition(), and Control::AUV::Attitude::Task::Task().

zref_extra

float Control::AUV::Attitude::Arguments::zref_extra

Vertical error to apply extra pitch.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

Collaboration diagram for Control::AUV::Attitude::Arguments: