# 模块参考：控制器

# ODULE_NAM

Source: modules/control_allocator (opens new window)

# 描述

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

# 实现

ODULE_NAM <command> [arguments...]
 wind_estimator &lt;command&gt; [arguments...]
 Commands:
   start
   stop
   status        打印状态信息

# fw_att_control

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

# 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 (opens new window)

# 参数描述

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

# 描述

airship_att_control <command> [arguments...]
 Commands:
   start
   stop
   status        print status info

# fw_pos_control_l1

源码：modules/fw_pos_control_l1 (opens new window)

# 参数描述

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

源码：modules/mc_att_control (opens new window)

# 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

# mc_pos_control

The controller has two loops: a P loop for angular error and a PID loop for angular rate error.

# 描述

fw_pos_control_l1 is the fixed wing position controller.

# 用法

mc_pos_control <command> [arguments...]
 Commands:
   start
   stop
   status        打印状态信息
 Commands:
   start
     [vtol]      VTOL mode
   stop
   status        print status info

# mc_att_control

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

# 参数描述

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

# 用法

mc_att_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode
   stop
   status        print status info

# navigator

Source: modules/mc_pos_control (opens new window)

# 参数描述

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.

# 实现

mc_pos_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

# mc_rate_control

Source: modules/mc_rate_control (opens new window)

# 用法

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.

# 参数描述

mc_rate_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode
   stop
   status        print status info

# navigator

Source: modules/navigator (opens new window)

# 实现

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.

# 用法

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

CLI 命令行用法示例：

# 参数描述

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

Publishes actuator_controls_0 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

# 用法

rover_pos_control <command> [arguments...]
 Commands:
   start
   stop
   status        print status info

# uuv_att_control

CLI 命令行用法示例：

# 参数描述

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

fw_att_control 是固定翼姿态控制器。

# 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 (opens new window)

# Description

Controls the attitude of an unmanned underwater vehicle (UUV). Publishes actuator_controls_0 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_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 (opens new window)

# Description

fw_att_control is the fixed wing attitude controller.

# Usage

vtol_att_control <command> [arguments...]
 Commands:
   stop
   status        print status info

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