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modules_controller.md

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Modules Reference: Controller

fw_att_control

Source: modules/fw_att_control

Description

fw_att_control is the fixed wing attitude controller.

Usage {#fw_att_control_usage}

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

   stop

   status        print status info

fw_pos_control_l1

Source: modules/fw_pos_control_l1

Description

fw_pos_control_l1 is the fixed wing position controller.

Usage {#fw_pos_control_l1_usage}

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

   stop

   status        print status info

mc_att_control

Source: modules/mc_att_control

Description

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.

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

Implementation

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

Usage {#mc_att_control_usage}

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

   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_usage}

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

   stop

   status        print status info

navigator

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_usage}

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