nhfc component

Ports

rotor_input (out)

Data structure

struct ::or_rotorcraft::input rotor_input
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- enum ::or_rotorcraft::control_type control ∈ { velocity, throttle }
- sequence< double, 8 > desired

rotor_measure (in)

Data structure

struct ::or_rotorcraft::output rotor_measure
- sequence< struct ::or_rotorcraft::rotor_state, 8 > rotor
  - struct ::or::time::ts ts
    
    unsigned long sec
    
    unsigned long nsec
  - boolean emerg
  - boolean spinning
  - boolean starting
  - boolean disabled
  - double velocity
  - double throttle
  - double consumption
  - double energy_level

state (in)

Data structure

struct ::or_pose_estimator::state state
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[28]
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[21]
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]

reference (in)

Data structure

struct ::or_pose_estimator::state reference
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[28]
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[21]
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]

Services

set_saturation (attribute)

Inputs

struct ::nhfc::ids::servo_s::sat_s sat
- double x
- double v
- double ix

set_servo_gain (attribute)

Inputs

struct ::nhfc::ids::servo_s::gain_s gain
- double Kpxy
- double Kpz
- double Kqxy
- double Kqz
- double Kvxy
- double Kvz
- double Kwxy
- double Kwz
- double Kixy
- double Kiz

set_mass (attribute)

Inputs

double mass

set_vlimit (attribute)

Inputs

double vmin
double vmax

set_servo_geom (attribute)

Inputs

double d
double kf
double c

set_servo_emerg (attribute)

Inputs

struct ::nhfc::ids::servo_s::emerg_s emerg
- double descent
- double dx
- double dq
- double dv
- double dw

get_servo_parameters (attribute)

Outputs

struct ::nhfc::ids::servo_s servo
- struct ::nhfc::ids::servo_s::sat_s sat
  - double x
  - double v
  - double ix
- struct ::nhfc::ids::servo_s::gain_s gain
  - double Kpxy
  - double Kpz
  - double Kqxy
  - double Kqz
  - double Kvxy
  - double Kvz
  - double Kwxy
  - double Kwz
  - double Kixy
  - double Kiz
- double mass
- double vmin
- double vmax
- double fmin
- double fmax
- double d
- double kf
- double c
- double ramp
- struct ::nhfc::ids::servo_s::emerg_s emerg
  - double descent
  - double dx
  - double dq
  - double dv
  - double dw

get_desired (attribute)

Outputs

struct ::or_pose_estimator::state desired
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[28]
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[21]
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]

servo (activity)

Throws

exception ::nhfc::e_input

Context

In task main (frequency 1000.0 Hz)
Reads port reference (in)

Track a desired position

set_state (function)

Inputs

struct ::or::t3d::pos pos: Position
- double x
- double y
- double z
- double qw
- double qx
- double qy
- double qz
struct ::or::t3d::vel vel: Velocity
- double vx
- double vy
- double vz
- double wx
- double wy
- double wz
struct ::or::t3d::acc acc: Acceleration
- double ax
- double ay
- double az

Context

Interrupts servo (activity)

Set the desired state

set_position (function)

Inputs

double x
double y
double z
double yaw

Context

Interrupts servo (activity)

Set the desired position

set_current_position (activity)

Throws

exception ::nhfc::e_input

Context

In task main (frequency 1000.0 Hz)
Reads port state (in)
Interrupts servo (activity)

Set the desired position

stop (function)

Context

Interrupts servo (activity)

Stop tracking a desired position

log (function)

Inputs

string<64> path (default "/tmp/nhfc.log") Log file name

Throws

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

Log state

log_stop (function)

Stop logging

Tasks

main

Context

Frequency 1000.0 Hz
Updates port rotor_input (out)
Reads port state (in)