mrsim component

Ports

gps (out)

Data structure

struct ::or_pose_estimator::state gps
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[6]
- optional< struct ::or::t3d::att_cov > att_cov
  - double cov[10]
- optional< struct ::or::t3d::att_pos_cov > att_pos_cov
  - double cov[12]
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[6]
- optional< struct ::or::t3d::avel_cov > avel_cov
  - double cov[6]
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]
- optional< struct ::or::t3d::aacc_cov > aacc_cov
  - double cov[6]

state (out)

Data structure

struct ::or_pose_estimator::state state
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[6]
- optional< struct ::or::t3d::att_cov > att_cov
  - double cov[10]
- optional< struct ::or::t3d::att_pos_cov > att_pos_cov
  - double cov[12]
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[6]
- optional< struct ::or::t3d::avel_cov > avel_cov
  - double cov[6]
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]
- optional< struct ::or::t3d::aacc_cov > aacc_cov
  - double cov[6]

Services

set_motor (attribute)

Inputs

struct ::mrsim::ids::simparam_s::motor_s motor: Simulation parameters for the motors
- double J (default "8e-05") Inertia (kg.m²)
- double b (default "0.0005") Drag (N.m.s)
- double K (default "0.01") Torque constant (N.m/A)
- double R (default "0.2") Electric resistance (Ohm)
- double L (default "0.0002") Electric inductance (H)
- double V (default "16") Battery voltage (V)

get_motor (attribute)

Outputs

struct ::mrsim::ids::simparam_s::motor_s motor: Simulation parameters for the motors
- double J
- double b
- double K
- double R
- double L
- double V

set_geom (attribute)

Inputs

double G[48] Mapping from propellers velocity^2 to wrench
double J[9] Inertia matrix

get_geom (attribute)

Outputs

double G[48] Mapping from propellers velocity^2 to wrench
double J[9] Inertia matrix

set_mass (attribute)

Inputs

double m (default "1") Mass in kg

get_mass (attribute)

Outputs

double m Mass in kg

set_gps_period (attribute)

Inputs

double gpsp

get_gps_period (attribute)

Outputs

double gpsp

set_external_disturbance (attribute)

Inputs

struct ::mrsim::ids::disturb_s disturb
- struct ::or::rb3d::force force
  - double x
  - double y
  - double z
- struct ::or::rb3d::torque torque
  - double x
  - double y
  - double z
- double zmin
- double zmax
- double noise
- double period

Define artificial external disturbance

The disturbance is defined in term of a force and torque applied to the center of mass. The perturbation is only active inside a given altitude band between zmin and zmax and its amplitude follows a sinusoid between 0 and force or torque at the desired period (set it to zero for a constant amplitude). Finally, an additive gaussian noise of standard deviation noise is applied.

get_external_disturbance (attribute)

Outputs

struct ::mrsim::ids::disturb_s disturb
- struct ::or::rb3d::force force
  - double x
  - double y
  - double z
- struct ::or::rb3d::torque torque
  - double x
  - double y
  - double z
- double zmin
- double zmax
- double noise
- double period

set_rotors (function)

Inputs

unsigned short n (default "4") Numer of controller rotors

Throws

exception ::mrsim::e_sys
- short code
- string<128> what

get_rotors (function)

Outputs

unsigned short n Numer of controller rotors

set_pty (activity)

Inputs

string<64> device

Throws

exception ::mrsim::e_sys
- short code
- string<128> what

Context

In task read

Set pty path

set_state (activity)

Inputs

double x
double y
double z
double yaw
double pitch
double roll
double vx
double vy
double vz
double wx
double wy
double wz

Context

In task main (frequency 1000.0 Hz)
Updates port state (out)

Set current state

Tasks

main

Context

Frequency 1000.0 Hz
Updates port gps (out)
Updates port state (out)

read

Context

Free running