uavatt component

Ports

uav_input (in)

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 (out)

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.

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]

Services

set_mass (attribute)

Inputs

double mass

set_geom (attribute)

Inputs

double G[48] Mapping from propellers velocity² to wrench
double J[9] Inertia matrix

set_wlimit (attribute)

Inputs

double wmin Minimum propeller velocity
double wmax Maximum propeller velocity

set_servo_gain (attribute)

Inputs

struct ::uavatt::ids::servo_s::gain_s gain
- double Kqxy
- double Kqz
- double Kwxy
- double Kwz

set_emerg (attribute)

Inputs

struct ::uavatt::ids::servo_s::emerg_s emerg
- double descent
- double dq
- double dw

get_servo_parameters (attribute)

Outputs

struct ::uavatt::ids::servo_s servo
- struct ::uavatt::ids::servo_s::gain_s gain
  - double Kqxy
  - double Kqz
  - double Kwxy
  - double Kwz
- double ramp
- double scale
- struct ::uavatt::ids::servo_s::emerg_s emerg
  - double descent
  - double dq
  - double dw

get_geom_parameters (attribute)

Outputs

struct ::uavatt::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]

get_reference (attribute)

Outputs

struct ::or_uav::input reference
- 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

servo (activity)

Throws

exception ::uavatt::e_input

Context

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

Track a desired attitude

set_state (function)

Inputs

struct ::or::rb3d::force thrust: Thrust
- double x
- double y
- double z
struct ::or::t3d::att att: Orientation
- double qw
- double qx
- double qy
- double qz
struct ::or::t3d::avel avel: Angular velocity
- double wx
- double wy
- double wz
struct ::or::t3d::aacc aacc: Angular acceleration
- double awx
- double awy
- double awz

Context

Interrupts servo (activity)

Set the desired state

stop (function)

Context

Interrupts servo (activity)

Stop tracking a desired attitude

log (function)

Inputs

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

Throws

exception ::uavatt::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 wrench_measure (out)
Updates port rotor_input (out)
Reads port rotor_measure (in)
Reads port state (in)