History

nhfc component

Ports

rotor_input (out)

Data structure

struct ::or_rotorcraft::input rotor_input
- struct ::or::time::ts ts
  - long sec
  - long nsec
- enum ::or_rotorcraft::control_type control ∈ { velocity, throttle }
- sequence< double, 8 > desired

rotor_measure (in)

Data structure

struct ::or_rotorcraft::output rotor_measure
- sequence< struct ::or_rotorcraft::rotor_state, 8 > rotor
  - struct ::or::time::ts ts
    
    long sec
    
    long nsec
  - boolean emerg
  - boolean spinning
  - boolean starting
  - boolean disabled
  - double velocity
  - double throttle
  - double consumption
  - double energy_level

state (in)

Data structure

struct ::or_pose_estimator::state state
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[6]
- optional< struct ::or::t3d::att_cov > att_cov
  - double cov[10]
- optional< struct ::or::t3d::att_pos_cov > att_pos_cov
  - double cov[12]
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[6]
- optional< struct ::or::t3d::avel_cov > avel_cov
  - double cov[6]
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]
- optional< struct ::or::t3d::aacc_cov > aacc_cov
  - double cov[6]

reference (in)

Data structure

struct ::or_rigid_body::state reference
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

wrench_measure (out)

Data structure

struct ::or_wrench_estimator::state wrench_measure
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::rb3d::force > force
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::force_cov > force_cov
  - double cov[6]
- optional< struct ::or::rb3d::torque > torque
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::torque_cov > torque_cov
  - double cov[6]

Provides current wrench measurements.

This port contains the current wrench exerted by the UAV according to the propeller measurements and the geometric model.

Services

set_saturation (attribute)

Inputs

struct ::nhfc::ids::servo_s::sat_s sat
- double x
- double v
- double ix

set_servo_gain (attribute)

Inputs

struct ::nhfc::ids::servo_s::gain_s gain
- double Kpxy
- double Kpz
- double Kqxy
- double Kqz
- double Kvxy
- double Kvz
- double Kwxy
- double Kwz
- double Kixy
- double Kiz

set_control_mode (attribute)

Inputs

enum ::nhfc::attitude_control_mode att_mode (default "::nhfc::tilt_prioritized") Attitude tracking control law ∈ { full_attitude, tilt_prioritized }

Select attitude tracking control law.

With tilt_prioritized, attitude error is split into a reduced attitude error, which describes the misalignment of the thrust direction, and a yaw error, which describes the heading orientation error. This is the default.

With full_attitude, a conventional controller, based on the full attitude error, is used.

set_wlimit (attribute)

Inputs

double wmin Minimum propeller velocity
double wmax Maximum propeller velocity

set_mass (attribute)

Inputs

double mass

set_geom (attribute)

Inputs

double mass Mass (kg)
double G[48] Mapping from propellers velocity^2 to wrench
double J[9] Inertia matrix

Set mass, allocation matrix and inertia tensor.

This is a generic function for setting the geometric parameters of the controlled robot. See set_gtmrp_geom (function) for a specialized function for tilted multi rotors robots.

set_gtmrp_geom (function)

Inputs

unsigned short rotors (default "4") Number of rotors
double cx (default "0") X position of center of rotors wrt center of mass (m)
double cy (default "0") Y position of center of rotors wrt center of mass (m)
double cz (default "0") Z position of center of rotors wrt center of mass (m)
double armlen (default "0.23") Distance of rotors to the center (m)
double mass (default "1.28") Total mass (kg)
double mbodyw (default "0.11") Main mass body width (m)
double mbodyh (default "0.17") Main mass body height (m)
double mmotor (default "0.07") Motor mass (kg)
double rx (default "0") X rotation of the first rotor thrust vector (deg)
double ry (default "0") Y rotation of the first rotor thrust vector (deg)
short rz (default "-1") Z spin direction of the first rotor (1: ccw, -1: cw)
double cf (default "0.00065") Propeller thrust coefficient (N.s²)
double ct (default "1e-05") Propeller torque coefficient (N.m.s²)

Throws

exception ::nhfc::e_inval
- string<128> what

Compute allocation matrix and inertia tensor for tilt rotors robots.

Generically Tilted Multi-Rotor Platforms (GTMRP) are made of a set of rotors evenly distributed in a horizontal plane. The rotors are tilted around an axis lying in the plane, all by the same angle but with alternating signs on the X axis. The spinning direction is also alternating.

This function is a specialization of the more generic set_geom (attribute).

set_emerg (attribute)

Inputs

struct ::nhfc::ids::servo_s::emerg_s emerg
- double descent (default "0.1") Vertical acceleration for emergency descent (m/s²)
- double dx (default "0.05") Position uncertainty threshold (m)
- double dq (default "20") Angular velocity uncertainty threshold (deg/s)
- double dv (default "0.2") Linear velocity uncertainty threshold (m/s)
- double dw

Set thresholds for emergency descent.

dx, dq, dv and dw represent the maximum uncertainty tolerated in the input state (in) for position (dx), orientation (dq), linear velocity (dv) and angular velocity (dw), measured as 3 times the standard deviation. By default, dx is 5cm, dq is 5⁰, dv is 20cm/s and dw 20⁰/s. Beyond that threshold, an emergency descent is started.

As long as the emergency descent is active, the position error or linear velocity error are cancelled (i.e. the desired roll and pitch are set to 0) and a vertical acceleration of descent (by default -0.1 m/s²) is requested. The descent is based on the mass only, with no feedback, as the state is considered invalid. If the orientation is invalid in the state (in), then no control on the attitude is possible and the stability is not guaranteed …

get_servo_parameters (attribute)

Outputs

struct ::nhfc::ids::servo_s servo
- struct ::nhfc::ids::servo_s::sat_s sat
  - double x
  - double v
  - double ix
- struct ::nhfc::ids::servo_s::gain_s gain
  - double Kpxy
  - double Kpz
  - double Kqxy
  - double Kqz
  - double Kvxy
  - double Kvz
  - double Kwxy
  - double Kwz
  - double Kixy
  - double Kiz
- enum ::nhfc::attitude_control_mode att_mode ∈ { full_attitude, tilt_prioritized }
- double ramp
- double scale
- struct ::nhfc::ids::servo_s::emerg_s emerg
  - double descent
  - double dx
  - double dq
  - double dv
  - double dw

get_body_parameters (attribute)

Outputs

struct ::nhfc::ids::body_s body
- double G[48]
- double iG[48]
- double J[9]
- double mass
- unsigned short rotors
- double wmin
- double wmax
- double thrust_min[3]
- double thrust_max[3]
- boolean init

get_reference (function)

Outputs

struct ::or_rigid_body::state reference
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

servo (activity)

Throws

exception ::nhfc::e_input
exception ::nhfc::e_geom

Context

In task main (frequency 1000.0 Hz)
Reads port reference (in)
Interrupts servo (activity)

Track a desired position

set_state (function)

Inputs

struct ::or::t3d::pos pos: Position
- double x
- double y
- double z
struct ::or::t3d::att att: Orientation
- double qw
- double qx
- double qy
- double qz
struct ::or::t3d::vel vel: Linear velocity
- double vx
- double vy
- double vz
struct ::or::t3d::avel avel: Angular velocity
- double wx
- double wy
- double wz
struct ::or::t3d::acc acc: Acceleration
- double ax
- double ay
- double az

Throws

exception ::nhfc::e_geom

Context

Interrupts servo (activity)

Set the desired state

set_position (function)

Inputs

double x
double y
double z
double yaw

Throws

exception ::nhfc::e_geom

Context

Interrupts servo (activity)

Set the desired position

The controller will hover on the given position and heading, with a zero velocity.

set_current_position (activity)

Throws

exception ::nhfc::e_input
exception ::nhfc::e_geom

Context

In task main (frequency 1000.0 Hz)
Reads port state (in)
Interrupts servo (activity)

Set the desired position to the current state.

The controller will hover on the position and heading currently given by the state contained in the port state (in), with a zero velocity. Note that state (in) is only read once and the robot will not track changes in the state. See servo (activity) for an actual trajectory tracking.

set_velocity (function)

Inputs

double x
double y
double z
double yaw

Throws

exception ::nhfc::e_geom

Context

Interrupts servo (activity)

Set the desired velocity

The controller will try to reach the given velocity and heading angular velocity. Note that for safety reasons, a watchdog will trigger after 500ms and reset the target velocity to zero.

stop (function)

Context

Interrupts servo (activity)

Stop tracking a desired position

log (activity)

Inputs

string<64> path (default "/tmp/nhfc.log") Log file name
unsigned long decimation (default "1") Reduced logging frequency

Throws

exception ::nhfc::e_sys
- short code
- string<128> what

Context

In task main (frequency 1000.0 Hz)

Log state

log_stop (function)

Stop logging

log_info (function)

Outputs

unsigned long miss Missed log entries
unsigned long total Total log entries

Show missed log entries

Tasks

main

Context

Frequency 1000.0 Hz
Updates port wrench_measure (out)
Updates port rotor_input (out)
Reads port rotor_measure (in)
Reads port state (in)

Project

General

Profile

Aerial Robotics Testbed » telekyb3 » nhfc-genom3

Indexes

nhfc component

Ports

rotor_input (out)

rotor_measure (in)

state (in)

reference (in)

wrench_measure (out)

Services

set_saturation (attribute)

set_servo_gain (attribute)

set_control_mode (attribute)

set_wlimit (attribute)

set_mass (attribute)

set_geom (attribute)

set_gtmrp_geom (function)

set_emerg (attribute)

get_servo_parameters (attribute)

get_body_parameters (attribute)

get_reference (function)

servo (activity)

set_state (function)

set_position (function)

set_current_position (activity)

set_velocity (function)

stop (function)

log (activity)

log_stop (function)

log_info (function)

Tasks

main