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Modules Reference: Controller ​

airship_att_control ​

Source: modules/airship_att_control

Description ​

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.

Currently it is feeding the manual_control_setpoint topic directly to the actuators.

Implementation ​

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

Usage ​

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

   stop

   status        print status info

control_allocator ​

Source: modules/control_allocator

Description ​

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

Usage ​

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

   stop

   status        print status info

flight_mode_manager ​

Source: modules/flight_mode_manager

Description ​

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

Usage ​

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

   stop

   status        print status info

fw_att_control ​

Source: modules/fw_att_control

Description ​

fw_att_control is the fixed wing attitude controller.

Usage ​

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

   stop

   status        print status info

fw_pos_control ​

Source: modules/fw_pos_control

Description ​

fw_pos_control is the fixed-wing position controller.

Usage ​

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

   stop

   status        print status info

fw_rate_control ​

Source: modules/fw_rate_control

Description ​

fw_rate_control is the fixed-wing rate controller.

Usage ​

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

   stop

   status        print status info

mc_att_control ​

Source: modules/mc_att_control

Description ​

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

Publication documenting the implemented Quaternion Attitude Control: Nonlinear Quadrocopter Attitude Control (2013) by Dario Brescianini, Markus Hehn and Raffaello D'Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich

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

Usage ​

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

   stop

   status        print status info

mc_pos_control ​

Source: modules/mc_pos_control

Description ​

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.

Usage ​

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

   stop

   status        print status info

mc_rate_control ​

Source: modules/mc_rate_control

Description ​

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.

Usage ​

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

   stop

   status        print status info

Source: modules/navigator

Description ​

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.

Implementation ​

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 24 fake transponder_report_s uORB messages

   stop

   status        print status info

rover_ackermann ​

Source: modules/rover_ackermann

Description ​

Rover ackermann module.

Usage ​

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

   stop

   status        print status info

rover_differential ​

Source: modules/rover_differential

Description ​

Rover Differential controller.

Usage ​

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

   stop

   status        print status info

rover_mecanum ​

Source: modules/rover_mecanum

Description ​

Rover Mecanum controller.

Usage ​

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

   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.

Implementation ​

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

Examples ​

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.

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_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

Description ​

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

Usage ​

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