uavpos component

Ports

uav_input (out)

Data structure

struct ::or_uav::input uav_input
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::rb3d::force > thrust
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz

Attitude/thrust control input.

wrench_measure (in)

Data structure

struct ::or_wrench_estimator::state wrench_measure
- struct ::or::time::ts ts
  - long sec
  - long nsec
- boolean intrinsic
- optional< struct ::or::rb3d::force > force
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::force_cov > force_cov
  - double cov[6]
- optional< struct ::or::rb3d::torque > torque
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::torque_cov > torque_cov
  - double cov[6]

Provides current wrench measurements.

This port contains the current wrench exerted by the UAV according to the propeller measurements and the geometric model.

state (in)

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]

reference (in)

Data structure

struct ::or_rigid_body::state reference
- 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::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

Services

set_saturation (attribute)

Inputs

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

set_servo_gain (attribute)

Inputs

struct ::uavpos::ids::servo_s::gain_s gain
- double Kpxy
- double Kpz
- double Kvxy
- double Kvz
- double Kixy
- double Kiz

set_mass (attribute)

Inputs

double mass

set_xyradius (attribute)

Inputs

double rxy Maximum lateral thrust (N)

set_emerg (attribute)

Inputs

struct ::uavpos::ids::servo_s::emerg_s emerg
- double descent (default "0.1") Vertical acceleration for emergency descent (m/s²)
- double dx (default "0.05") Position uncertainty threshold (m)
- double dv (default "0.2") Linear velocity uncertainty threshold (m/s)

Set thresholds for emergency descent.

dx and dv represent the maximum uncertainty tolerated in the input state (in) for position (dx) and linear velocity (dv), measured as 3 times the standard deviation. By default, dx is 5cm and dv 20cm/s. Beyond that threshold, an emergency descent is started.

As long as the emergency descent is active, the position error or linear velocity error are cancelled (i.e. the desired roll and pitch are set to 0) and a vertical acceleration of descent (by default -0.1 m/s²) is requested. The descent is based on the mass only, with no feedback, as the state is considered invalid.

get_servo_parameters (attribute)

Outputs

struct ::uavpos::ids::servo_s servo
- struct ::uavpos::ids::servo_s::sat_s sat
  - double x
  - double v
  - double ix
- struct ::uavpos::ids::servo_s::gain_s gain
  - double Kpxy
  - double Kpz
  - double Kvxy
  - double Kvz
  - double Kixy
  - double Kiz
- struct ::uavpos::ids::servo_s::emerg_s emerg
  - double descent
  - double dx
  - double dv

get_body_parameters (attribute)

Outputs

struct ::uavpos::ids::body_s body
- double mass
- double rxy

get_reference (function)

Outputs

struct ::or_rigid_body::state reference
- 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::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

servo (activity)

Throws

exception ::uavpos::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
struct ::or::t3d::att att: Orientation
- double qw
- double qx
- double qy
- double qz
struct ::or::t3d::vel vel: Linear velocity
- double vx
- double vy
- double vz
struct ::or::t3d::avel avel: Angular velocity
- double wx
- double wy
- double wz
struct ::or::t3d::acc acc: Acceleration
- double ax
- double ay
- double az
struct ::or::t3d::aacc aacc: Angular acceleration
- double awx
- double awy
- double awz
struct ::or::t3d::jerk jerk: Linear jerk
- double jx
- double jy
- double jz
struct ::or::t3d::snap snap: Linear snap
- double sx
- double sy
- double sz

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 ::uavpos::e_input

Context

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

Set the desired position

set_velocity (function)

Inputs

double x
double y
double z
double yaw

Context

Interrupts servo (activity)

Set the desired velocity

The controller will try to reach the given velocity and heading angular velocity. Note that for safety reasons, a watchdog will trigger after 500ms and reset the target velocity to zero.

hover (function)

Context

Interrupts servo (activity)

Stop tracking a desired position

This sets the current reference velocity and acceleration to 0, maintaining the current position and heading. Any dynamic reference tracking is cancelled (see servo (activity)).

reset (function)

Context

Interrupts servo (activity)

Stop control loop and wait for a new valid reference

This function is meant to reset the controller and stop controlling the robot. The component returns to the same state as when it is started, waiting for a first reference state provided either with set_state (function), set_position (function), set_velocity (function) or servo (activity) to track a dynamic reference.

log (function)

Inputs

string<64> path (default "/tmp/uavpos.log") Log file name
unsigned long decimation (default "1") Reduced logging frequency

Throws

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

Log controller data

log_stop (function)

Stop logging

log_info (function)

Outputs

unsigned long miss Missed log entries
unsigned long total Total log entries

Show missed log entries

Tasks

main

Context

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