# 模块参考：控制器

# fw_att_control

Source: modules/airship_att_control (opens new window)

# 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.

# 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 (opens new window)

# 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

# fw_pos_control_l1

Source: modules/flight_mode_manager (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

Source: modules/fw_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

# fw_pos_control

Source: modules/fw_pos_control (opens new window)

# 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 (opens new window)

# 参数描述

fw_rate_control is the fixed-wing rate controller.

# 用法

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

   stop

   status        print status info

# mc_att_control

Source: modules/mc_att_control (opens new window)

# 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

# 实现

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 (opens new window)

# 用法

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.

# 参数描述

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

   stop

   status        print status info

# mc_rate_control

Source: modules/mc_rate_control (opens new window)

# 实现

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 (opens new window)

# 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.

# 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

Source: modules/rover_pos_control (opens new window)

# 参数描述

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 (opens new window)

# 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 (opens new window)

# 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 (opens new window)

# 描述

fw_att_control is the fixed wing attitude controller.

# 实现

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

   stop

   status        print status info

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