UavControlParameters (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.ControlParameters
- - execution.uav.control.UavControlParameters

```
public class UavControlParameters
extends ControlParameters
```
Contains variables required for setting vehicle and sensor control modes These variables may change during the course of a run
Also contains an overloaded parseCommand function (1 version for text commands, one for AVCL) that will set these variables. These functions are loosely based on an older version of execution level software written by Miguel Ayala, Don Brutzman and Duane Davis

Version:

$Id: UavControlParameters.java 9109 2015-07-29 22:39:46Z brutzman $

Nested Class Summary
- Nested classes/interfaces inherited from class execution.ControlParameters
  ControlParameters.CommandParser

Field Summary

Fields
Modifier and Type	Field and Description
`protected static double`	`CRUISESPEED` Minimum power required airspeed
`protected double`	`MAXAILERON` Maximum aileron setting
`protected double`	`MAXCLIMBRATE` Maximum orderable turn rate (degrees per second)
`protected double`	`MAXPOWER` Maximum power setting
`protected double`	`MAXRUDDER` Maximum rudder setting
`protected double`	`MAXSTABILATOR` Maximum stabilator setting
`protected double`	`MAXTURNRATE` Maximum orderable turn rate (degrees per second)
`boolean`	`radianAngles` Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
`protected boolean`	`reportStable` true if uavExecution needs to report completion of current command
`static double`	`timeStep` closed loop timing increment (seconds)

Fields inherited from class execution.ControlParameters
commandCompleteMsgSent, continueRun, readyNextCommand, standoffDistance, vehicle, workbenchCommunicator, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors
Constructor and Description

UavControlParameters(UavExecution execution)
Constructor

Constructors
Constructor and Description
`UavControlParameters(UavExecution execution)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getMaxAileron()`
`double`	`getMaxPower()`
`double`	`getMaxRudder()`
`double`	`getMaxStabilator()`
`double`	`getStandoffDistance()`
`double`	`getTimeStep()` returns the uavExecution time step
`void`	`loadControlLimits(ExecutionDynamicsConfiguration config)` Sets the control limit values based on the configuration file
`boolean`	`parseCommand(Object commandElement)` parseCommand parses an XML (AVCL) script command and sets the control parameter values as required
`boolean`	`parseCommand(String commandString)` parseCommand parses a space-delimited text script command and sets the control parameter values as required
`void`	`setMaxAileron(double newValue)` sets the uavExecution maximum aileron setting
`void`	`setMaxPower(double newValue)` sets the uavExecution maximum power setting
`void`	`setMaxRudder(double newValue)` sets the uavExecution maximum rudder setting
`void`	`setMaxStabilator(double newValue)` sets the uavExecution maximum stabilator setting
`void`	`setMission(Mission mission)` Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
`void`	`setStandoffDistance(double newValue)` sets the uavExecution standoff distance
`void`	`setTimeStep(double newValue)` sets the uavExecution time step
`void`	`useMetricDistances(boolean newSetting)` sets the distance units of measure to either meters or feet (default).
`void`	`useRadianAngles(boolean newSetting)` sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Methods inherited from class execution.ControlParameters
getStandoff, getXCommand, getXStart, getYCommand, getYStart, isTimedCommand, parseTelemetryPostCommon, readyForNextCommand, setReadyNextCommand, setTimedCommand, setWorkbenchCommunicator, unsetReadyNextCommand

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

- Field Detail
  - reportStable
```
protected boolean reportStable
```
    true if uavExecution needs to report completion of current command
  - timeStep
```
public static double timeStep
```
    closed loop timing increment (seconds)
  - CRUISESPEED
```
protected static final double CRUISESPEED
```
    Minimum power required airspeed
    
    See Also:
    
    Constant Field Values
  - MAXPOWER
```
protected double MAXPOWER
```
    Maximum power setting
  - MAXRUDDER
```
protected double MAXRUDDER
```
    Maximum rudder setting
  - MAXSTABILATOR
```
protected double MAXSTABILATOR
```
    Maximum stabilator setting
  - MAXAILERON
```
protected double MAXAILERON
```
    Maximum aileron setting
  - MAXCLIMBRATE
```
protected double MAXCLIMBRATE
```
    Maximum orderable turn rate (degrees per second)
  - MAXTURNRATE
```
protected double MAXTURNRATE
```
    Maximum orderable turn rate (degrees per second)
  - radianAngles
```
public boolean radianAngles
```
    Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
- Constructor Detail
  - UavControlParameters
```
public UavControlParameters(UavExecution execution)
```
    Constructor
    
    Parameters:
    
    execution - reference to uavExecution to which this object applies
- Method Detail
  - setMission
```
public void setMission(Mission mission)
```
    Description copied from class: ControlParameters
    
    Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
    
    Specified by:
    
    setMission in class ControlParameters
    
    Parameters:
    
    mission - instance of execution.mission.Mission
  - getTimeStep
```
public double getTimeStep()
```
    returns the uavExecution time step
    
    Specified by:
    
    getTimeStep in class ControlParameters
    
    Returns:
    
    double-precision value
  - getStandoffDistance
```
public double getStandoffDistance()
```
    Returns:
    
    the uavExecution standoff distance
  - getMaxPower
```
public double getMaxPower()
```
    Returns:
    
    the uavExecution maximum power setting
  - getMaxRudder
```
public double getMaxRudder()
```
    Returns:
    
    the uavExecution maximum rudder setting
  - getMaxStabilator
```
public double getMaxStabilator()
```
    Returns:
    
    the uavExecution maximum stabilator setting
  - getMaxAileron
```
public double getMaxAileron()
```
    Returns:
    
    the uavExecution maximum aileron setting
  - setTimeStep
```
public void setTimeStep(double newValue)
```
    sets the uavExecution time step
    
    Parameters:
    
    newValue - new value
  - setStandoffDistance
```
public void setStandoffDistance(double newValue)
```
    sets the uavExecution standoff distance
    
    Parameters:
    
    newValue - new value
  - setMaxPower
```
public void setMaxPower(double newValue)
```
    sets the uavExecution maximum power setting
    
    Parameters:
    
    newValue - new value
  - setMaxRudder
```
public void setMaxRudder(double newValue)
```
    sets the uavExecution maximum rudder setting
    
    Parameters:
    
    newValue - new value
  - setMaxStabilator
```
public void setMaxStabilator(double newValue)
```
    sets the uavExecution maximum stabilator setting
    
    Parameters:
    
    newValue - new value
  - setMaxAileron
```
public void setMaxAileron(double newValue)
```
    sets the uavExecution maximum aileron setting
    
    Parameters:
    
    newValue - new value
  - loadControlLimits
```
public void loadControlLimits(ExecutionDynamicsConfiguration config)
```
    Sets the control limit values based on the configuration file
    
    Parameters:
    
    config - JAXB object containing all configuration data
  - useMetricDistances
```
public void useMetricDistances(boolean newSetting)
```
    sets the distance units of measure to either meters or feet (default). Only valid for AVCL missions--text will ALWAYS use feet
    
    Specified by:
    
    useMetricDistances in class ControlParameters
    
    Parameters:
    
    newSetting - true if mission command distance units will be meters (false for feet)
  - useRadianAngles
```
public void useRadianAngles(boolean newSetting)
```
    sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees
    
    Specified by:
    
    useRadianAngles in class ControlParameters
    
    Parameters:
    
    newSetting - Setting true if mission command angular units will be radians (false for degrees)
  - parseCommand
```
public boolean parseCommand(Object commandElement)
```
    parseCommand parses an XML (AVCL) script command and sets the control parameter values as required
    
    Specified by:
    
    parseCommand in class ControlParameters
    
    Parameters:
    
    commandElement - is current AVCL command to be parsed
    
    Returns:
    
    true if command is valid for continued processing, otherwise returns false if another command should immediately be requested
  - parseCommand
```
public boolean parseCommand(String commandString)
```
    parseCommand parses a space-delimited text script command and sets the control parameter values as required
    
    Specified by:
    
    parseCommand in class ControlParameters
    
    Parameters:
    
    commandString - is current text command to be parsed
    
    Returns:
    
    true if command is valid for continued processing, otherwise returns false if another command should immediately be requested

Class UavControlParameters

Nested Class Summary

Nested classes/interfaces inherited from class execution.ControlParameters

Field Summary

Fields inherited from class execution.ControlParameters

Constructor Summary

Method Summary

Methods inherited from class execution.ControlParameters

Methods inherited from class java.lang.Object

Field Detail

reportStable

timeStep

CRUISESPEED

MAXPOWER

MAXRUDDER

MAXSTABILATOR

MAXAILERON

MAXCLIMBRATE

MAXTURNRATE

radianAngles

Constructor Detail

UavControlParameters

Method Detail

setMission

getTimeStep

getStandoffDistance

getMaxPower

getMaxRudder

getMaxStabilator

getMaxAileron

setTimeStep

setStandoffDistance

setMaxPower

setMaxRudder

setMaxStabilator

setMaxAileron

loadControlLimits

useMetricDistances

useRadianAngles

parseCommand

parseCommand