uavatt component
- Ports
- Services
- set_mass (attribute)
- set_geom (attribute)
- set_gtmrp_geom (function)
- set_wlimit (attribute)
- set_servo_gain (attribute)
- set_emerg (attribute)
- get_servo_parameters (attribute)
- get_geom_parameters (attribute)
- get_reference (attribute)
- servo (activity)
- set_state (function)
- stop (function)
- log (function)
- log_stop (function)
- log_info (function)
- Tasks
Ports
uav_input (in)
Data structure
|
Attitude/thrust control input.
wrench_measure (out)
Data structure
|
Provides current wrench measurements.
This port contains the current wrench exerted by the UAV according to the propeller measurements and the geometric model.
rotor_input (out)
Data structure
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rotor_measure (in)
Data structure
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state (in)
Data structure
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Services
set_geom (attribute)
Inputs
|
Set mass and allocation matrix
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
|
Throws
|
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_wlimit (attribute)
Inputs
|
set_servo_gain (attribute)
Inputs
|
set_emerg (attribute)
Inputs
|
Set thresholds for emergency hovering.
dq
and dw
represent the maximum uncertainty tolerated in the
input state (in) for attitude (dq
) and angular velocity (dw
),
measured as 3 times the standard deviation.
By default, dq
is 5⁰ and dw
20⁰/s. Beyond that threshold, an
emergency hovering is started.
The emergency hovering uses no feedback, as the state is considered invalid. Thus, stability is not guaranteed …
get_servo_parameters (attribute)
Outputs
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get_geom_parameters (attribute)
Outputs
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get_reference (attribute)
Outputs
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servo (activity)
Throws
|
Context
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Track a desired attitude
set_state (function)
Inputs
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Throws
|
Context
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Set the desired state
Tasks
main
Context
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