模块参考：控制器

fw_att_control

Source: modules/airship_att_control

描述

This implements the airship attitude and rate controller. Ideally it would take attitude setpoints (vehicle_attitude_setpoint) or rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.

源码：modules/fw_att_control

参数描述

To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.

实现

airship_att_control <command> [arguments...]
 wind_estimator &lt;command&gt; [arguments...]
 Commands:
   start

   stop

   status        打印状态信息

control_allocator

Source: modules/control_allocator

描述

This implements control allocation. It takes torque and thrust setpoints as inputs and outputs actuator setpoint messages.

描述

control_allocator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

differential_drive

Source: modules/differential_drive

参数描述

Rover Differential Drive controller.

用法

differential_drive <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

fw_pos_control_l1

Source: modules/flight_mode_manager

描述

This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input and outputs setpoints for controllers.

用法

fw_pos_control_l1 <command> [arguments...]
 Commands:
   start

   stop

   status        打印状态信息
 Commands:
   start

   stop

   status        print status info

mc_att_control

Source: modules/fw_att_control

描述

fw_att_control is the fixed wing attitude controller.

用法

fw_att_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

fw_pos_control

Source: modules/fw_pos_control

参数描述

fw_pos_control is the fixed-wing position controller.

用法

fw_pos_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

fw_rate_control

Source: modules/fw_rate_control

参数描述

fw_rate_control is the fixed-wing rate controller.

实现

fw_rate_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

mc_att_control

Source: modules/mc_att_control

用法

This implements the multicopter attitude controller. It takes attitude setpoints (vehicle_attitude_setpoint) as inputs and outputs a rate setpoint.

The controller has a P loop for angular error

The different internal modes are implemented as separate classes that inherit from a common base class NavigatorMode. The member _navigation_mode contains the current active mode.

https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf

参数描述

mc_att_control <command> [arguments...]
 navigator <command> [arguments...]
 Commands:
   start

   fencefile     load a geofence file from SD card, stored at etc/geofence.txt

   fake_traffic  publishes 3 fake transponder_report_s uORB messages

   stop

   status        print status info

navigator

Source: modules/mc_pos_control

实现

The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).

The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and logging.

用法

mc_pos_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

mc_rate_control

Source: modules/mc_rate_control

参数描述

This implements the multicopter rate controller. It takes rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.

The controller has a PID loop for angular rate error.

用法

mc_rate_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

navigator

Source: modules/navigator

参数描述

Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking.

示例

The different internal modes are implemented as separate classes that inherit from a common base class NavigatorMode. The member _navigation_mode contains the current active mode.

Navigator publishes position setpoint triplets (position_setpoint_triplet_s), which are then used by the position controller.

Usage

navigator <command> [arguments...]
 Commands:
   start

   fencefile     load a geofence file from SD card, stored at etc/geofence.txt

   fake_traffic  publishes 4 fake transponder_report_s uORB messages

   stop

   status        print status info

rover_pos_control

Source: modules/rover_pos_control

Description

Controls the position of a ground rover using an L1 controller.

Publishes vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw) messages at IMU_GYRO_RATEMAX.

实现

Currently, this implementation supports only a few modes:

• Full manual: Throttle and yaw controls are passed directly through to the actuators
• Auto mission: The rover runs missions
• Loiter: The rover will navigate to within the loiter radius, then stop the motors

示例

CLI usage example:

rover_pos_control start
rover_pos_control status
rover_pos_control stop

Usage

rover_pos_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

uuv_att_control

Source: modules/uuv_att_control

Description

Controls the attitude of an unmanned underwater vehicle (UUV).

Publishes vehicle_thrust_setpont and vehicle_torque_setpoint messages at a constant 250Hz.

用法

Currently, this implementation supports only a few modes:

• Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
• Auto mission: The uuv runs missions

Examples

CLI usage example:

uuv_att_control start
uuv_att_control status
uuv_att_control stop

Usage

uuv_att_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

uuv_pos_control

Source: modules/uuv_pos_control

描述

Controls the attitude of an unmanned underwater vehicle (UUV). Publishes attitude_setpoint messages.

Implementation

Currently, this implementation supports only a few modes:

• Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
• Auto mission: The uuv runs missions

Examples

CLI usage example:

uuv_pos_control start
uuv_pos_control status
uuv_pos_control stop

实现

uuv_pos_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

vtol_att_control

Source: modules/vtol_att_control

Description

fw_att_control is the fixed wing attitude controller.

Usage

vtol_att_control <command> [arguments...]
 Commands:

   stop

   status        print status info