Project

General

Profile

uavpos component

Ports

uav_input (out)

Data structure
  • struct ::or_uav::input uav_input

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::rb3d::force > thrust

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

Attitude/thrust control input.


wrench_measure (in)

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.


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


Services

set_saturation (attribute)

Inputs
  • struct ::uavpos::ids::servo_s::sat_s sat

    • double x

    • double v

    • double ix


set_servo_gain (attribute)

Inputs
  • struct ::uavpos::ids::servo_s::gain_s gain

    • double Kpxy

    • double Kpz

    • double Kvxy

    • double Kvz

    • double Kixy

    • double Kiz


set_mass (attribute)

Inputs
  • double mass


set_geom (attribute)

Inputs
  • double J[9] Inertia matrix


set_emerg (attribute)

Inputs
  • struct ::uavpos::ids::servo_s::emerg_s emerg

    • double descent

    • double dx

    • double dv


get_servo_parameters (attribute)

Outputs
  • struct ::uavpos::ids::servo_s servo

    • struct ::uavpos::ids::servo_s::sat_s sat

      • double x

      • double v

      • double ix

    • struct ::uavpos::ids::servo_s::gain_s gain

      • double Kpxy

      • double Kpz

      • double Kvxy

      • double Kvz

      • double Kixy

      • double Kiz

    • struct ::uavpos::ids::servo_s::emerg_s emerg

      • double descent

      • double dx

      • double dv


get_body_parameters (attribute)

Outputs
  • struct ::uavpos::ids::body_s body

    • double J[9]

    • double mass


get_reference (attribute)

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 ::uavpos::e_input

Context

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

  • struct ::or::t3d::aacc aacc: Angular acceleration

    • double awx

    • double awy

    • double awz

  • struct ::or::t3d::jerk jerk: Linear jerk

    • double jx

    • double jy

    • double jz

  • struct ::or::t3d::snap snap: Linear snap

    • double sx

    • double sy

    • double sz

Context

Set the desired state


set_position (function)

Inputs
  • double x

  • double y

  • double z

  • double yaw

Context

Set the desired position


set_current_position (activity)

Throws
  • exception ::uavpos::e_input

Context

Set the desired position


stop (function)

Context

Stop tracking a desired position


log (function)

Inputs
  • string<64> path (default "/tmp/uavpos.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency

Throws
  • exception ::uavpos::e_sys

    • short code

    • string<128> what

Log controller data


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