ControlCoefficients (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.uav.control.ControlCoefficients

```
public class ControlCoefficients
extends Object
```
Class for loading and maintaining control coefficients utilized by UavController objects All control constants should be greater than or equal to zero

Field Summary

Fields
Modifier and Type	Field and Description
`protected double`	`kP` Coefficient applied to roll rate
`protected double`	`kPhi` Coefficient applied to the angle of bank (phi) error
`protected double`	`kPhiIntegral` Coefficient applied to the integral of angle of bank error
`protected double`	`kPsiDot` Coefficient applied to turn rate when determining the desired angle of bank
`protected double`	`kPsiDotDot` Coefficient applied to turn angular acceleration when detering the desired angle of bank
`protected double`	`kPsiDotIntegral` Coefficient applied to the integral of turn rate error when determining the desired angle of bank
`protected double`	`kQ` Coefficient applied to the pitch rate
`protected double`	`kTheta` Coefficient applied to pitch (theta) error
`protected double`	`kThetaIntegral` Coefficient applied to the integral of pitch (theta) error
`protected double`	`kThrustClimb` coefficient applied to the commanded rate of climb to determine baseline thrust
`protected double`	`kThrustCruise` baseline thrust for straight and level flight at cruise true air speed
`protected double`	`kV` Coefficient applied to body coordinate lateral velocity
`protected double`	`kVDot` Coefficient applied to the derivative of body coordinate lateral velocity
`protected double`	`kVIntegral` Coefficient applied to the integral of body coordinate lateral velocity
`protected double`	`kZDot` Coefficient applied to rate of climb error
`protected double`	`kZDotDot` Coefficient applied to derivative of rate of climb error
`protected double`	`kZDotIntegral` Coefficient applied to integral of altitude error

Constructor Summary

Constructors
Constructor and Description

ControlCoefficients(UavExecution execution)
Creates a new instance of ControlCoefficients

Constructors
Constructor and Description
`ControlCoefficients(UavExecution execution)` Creates a new instance of ControlCoefficients

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`loadCoefficients(ExecutionDynamicsConfiguration config)` Sets control coefficient values based on xml configuration file

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - kTheta
```
protected double kTheta
```
    Coefficient applied to pitch (theta) error
  - kQ
```
protected double kQ
```
    Coefficient applied to the pitch rate
  - kThetaIntegral
```
protected double kThetaIntegral
```
    Coefficient applied to the integral of pitch (theta) error
  - kV
```
protected double kV
```
    Coefficient applied to body coordinate lateral velocity
  - kVDot
```
protected double kVDot
```
    Coefficient applied to the derivative of body coordinate lateral velocity
  - kVIntegral
```
protected double kVIntegral
```
    Coefficient applied to the integral of body coordinate lateral velocity
  - kThrustCruise
```
protected double kThrustCruise
```
    baseline thrust for straight and level flight at cruise true air speed
  - kThrustClimb
```
protected double kThrustClimb
```
    coefficient applied to the commanded rate of climb to determine baseline thrust
  - kZDot
```
protected double kZDot
```
    Coefficient applied to rate of climb error
  - kZDotDot
```
protected double kZDotDot
```
    Coefficient applied to derivative of rate of climb error
  - kZDotIntegral
```
protected double kZDotIntegral
```
    Coefficient applied to integral of altitude error
  - kPhi
```
protected double kPhi
```
    Coefficient applied to the angle of bank (phi) error
  - kP
```
protected double kP
```
    Coefficient applied to roll rate
  - kPhiIntegral
```
protected double kPhiIntegral
```
    Coefficient applied to the integral of angle of bank error
  - kPsiDot
```
protected double kPsiDot
```
    Coefficient applied to turn rate when determining the desired angle of bank
  - kPsiDotDot
```
protected double kPsiDotDot
```
    Coefficient applied to turn angular acceleration when detering the desired angle of bank
  - kPsiDotIntegral
```
protected double kPsiDotIntegral
```
    Coefficient applied to the integral of turn rate error when determining the desired angle of bank
- Constructor Detail
  - ControlCoefficients
```
public ControlCoefficients(UavExecution execution)
```
    Creates a new instance of ControlCoefficients
    
    Parameters:
    
    execution - UavExecution reference to the main class of the auv to which coefficients apply
- Method Detail
  - loadCoefficients
```
public void loadCoefficients(ExecutionDynamicsConfiguration config)
```
    Sets control coefficient values based on xml configuration file
    
    Parameters:
    
    config - JAXB object containing all configuration info

Class ControlCoefficients

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

kTheta

kQ

kThetaIntegral

kV

kVDot

kVIntegral

kThrustCruise

kThrustClimb

kZDot

kZDotDot

kZDotIntegral

kPhi

kP

kPhiIntegral

kPsiDot

kPsiDotDot

kPsiDotIntegral

Constructor Detail

ControlCoefficients

Method Detail

loadCoefficients