nhfc component

Ports

rotor_input (out)

Data structure

struct ::or_rotorcraft::input rotor_input
- struct ::or::time::ts ts
  - long sec
  - 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
    
    long sec
    
    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
  - 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

external_wrench (out)

Data structure

struct ::or_wrench_estimator::state external_wrench
- 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]

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_wlimit (attribute)

Inputs

double wmin Minimum propeller velocity
double wmax Maximum propeller velocity

set_mass (attribute)

Inputs

double mass

set_geom (attribute)

Inputs

double mass Mass (kg)
double G[48] Mapping from propellers velocity^2 to wrench
double J[9] Inertia matrix

Set mass, allocation matrix and inertia tensor.

This is a generic function for setting the geometric parameters of the controlled robot. See set_gtmrp_geom (function) for a specialized function for tilted multi rotors robots.

set_gtmrp_geom (function)

Inputs

unsigned short rotors (default "4") Number of rotors
double cx (default "0") X position of center of rotors wrt center of mass (m)
double cy (default "0") Y position of center of rotors wrt center of mass (m)
double cz (default "0") Z position of center of rotors wrt center of mass (m)
double armlen (default "0.23") Distance of rotors to the center (m)
double mass (default "1.28") Total mass (kg)
double mbodyw (default "0.11") Main mass body width (m)
double mbodyh (default "0.17") Main mass body height (m)
double mmotor (default "0.07") Motor mass (kg)
double rx (default "0") X rotation of the first rotor thrust vector (deg)
double ry (default "0") Y rotation of the first rotor thrust vector (deg)
short rz (default "1") Z spin direction of the first rotor (1: ccw, -1: cw)
double cf (default "0.00065") Propeller thrust coefficient (N.s²)
double ct (default "1e-05") Propeller torque coefficient (N.m.s²)

Throws

exception ::nhfc::e_inval
- string<128> what

Compute allocation matrix and inertia tensor for tilt rotors robots.

Generically Tilted Multi-Rotor Platforms (GTMRP) are made of a set of rotors evenly distributed in a horizontal plane. The rotors are tilted around an axis lying in the plane, all by the same angle but with alternating signs on the X axis. The spinning direction is also alternating.

This function is a specialization of the more generic set_geom (attribute).

set_emerg (attribute)

Inputs

struct ::nhfc::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 dq (default "20") Angular velocity uncertainty threshold (deg/s)
- double dv (default "0.2") Linear velocity uncertainty threshold (m/s)
- double dw

Set thresholds for emergency descent.

dx, dq, dv and dw represent the maximum uncertainty tolerated in the input state (in) for position (dx), orientation (dq), linear velocity (dv) and angular velocity (dw), measured as 3 times the standard deviation. By default, dx is 5cm, dq is 5⁰, dv is 20cm/s and dw 20⁰/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. If the orientation is invalid in the state (in), then no control on the attitude is possible and the stability is not guaranteed …

set_wo_gains (attribute)

Inputs

double K[6] Wrench observer gains

set_af_parameters (attribute)

Inputs

double mass Apparent mass
double B[6] Apparent damping
double K[6] Apparent sprinf stiffness
double J[9] Apparent inertia matrix

set_af_wrench (attribute)

Inputs

struct ::or::rb3d::force force
- double x
- double y
- double z
struct ::or::rb3d::torque torque
- double x
- double y
- double z

set_af_enable (attribute)

Inputs

boolean enable

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

get_body_parameters (attribute)

Outputs

struct ::nhfc::ids::body_s body
- double G[48]
- double iG[48]
- double J[9]
- double mass
- unsigned short rotors
- double wmin
- double wmax
- double thrust_min[3]
- double thrust_max[3]
- boolean init

get_reference (attribute)

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

get_wo_parameters (attribute)

Outputs

struct ::nhfc::ids::wo_s wo
- double K[6]
- double bias[6]

get_af_parameters (attribute)

Outputs

struct ::nhfc::ids::af_s af
- boolean enable
- double mass
- double B[6]
- double K[6]
- double J[9]
- struct ::or::rb3d::force force
  - double x
  - double y
  - double z
- struct ::or::rb3d::torque torque
  - double x
  - double y
  - double z

servo (activity)

Throws

exception ::nhfc::e_input
exception ::nhfc::e_geom

Context

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

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

Throws

exception ::nhfc::e_geom

Context

Interrupts servo (activity)

Set the desired state

set_position (function)

Inputs

double x
double y
double z
double yaw

Throws

exception ::nhfc::e_geom

Context

Interrupts servo (activity)

Set the desired position

set_current_position (activity)

Throws

exception ::nhfc::e_input
exception ::nhfc::e_geom

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

set_wo_zero (activity)

Inputs

double duration (default "2") Standstill acquisition time

Throws

exception ::nhfc::e_geom

Context

In task wo (frequency 100.0 Hz)
Updates port external_wrench (out)
Interrupts set_wo_zero (activity)

Compute wrench observer bias.

log (function)

Inputs

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

Throws

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

Log state

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 rotor_input (out)
Reads port state (in)
Updates port external_wrench (out)

wo

Context

Frequency 100.0 Hz
Reads port rotor_measure (in)
Reads port state (in)
Updates port external_wrench (out)