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_geom (attribute)

Inputs

double J[9] Inertia matrix

set_emerg (attribute)

Inputs

struct ::uavpos::ids::servo_s::emerg_s emerg
- double descent
- double dx
- double dv

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 J[9]
- double mass

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

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

stop (function)

Context

Interrupts servo (activity)

Stop tracking a desired position

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)