UavController (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.VehicleController
- - execution.uav.control.UavController

Direct Known Subclasses:

AirspeedController, AltitudeController, HeadingController, LoiterController, OpenLoopController, WaypointController
```
public abstract class UavController
extends VehicleController
```
Abstract class for implementing specific UAV control modes

Field Summary

Fields
Modifier and Type	Field and Description
`protected static double`	`aileronCommand` commanded aileron setting
`protected double`	`alongTrackRange` along track range remaining to reach goal point
`protected boolean`	`correctToTrack` set to true if path to waypoint is over a specific track (false for continuous to)
`protected double`	`crossTrackError` distance (m) from the nearest point on the commanded track
`protected double`	`error` current error in the value controlled by this controller
`protected double`	`errorIntegral` integral of the error of the value controlled by this controller
`protected double`	`maxIntegral` maximum value that the error integral will be allowed to reach
`protected double`	`offTrackAngleDegrees` angle computed from arc tangent of alongTrackRange and crossTrackError
`protected double`	`pdOnlyTime` amount of time after a new command that control will only be PD (not PID)
`protected static double`	`powerCommand` commanded power setting.
`protected double`	`psiError` angular offset in degrees from a commanded track
`protected boolean`	`reset` true if this is the constraints of this controller have been reset
`protected static double`	`rudderCommand` commanded rudder setting
`protected static double`	`stabilatorCommand` commanded stabilator setting
`protected double`	`timePIDControl` vehicle time when control will switch from PD to PID (if applicable)
`protected static UavExecution`	`uavExecution` reference to main class of this uavExecution
`protected double`	`xCommand` x position of the commanded waypoint
`protected double`	`xStart` starting point y position of the commanded track to the waypoint waypoint
`protected double`	`yCommand` y position of the commanded waypoint
`protected double`	`yStart` starting point y position of the commanded track to the waypoint waypoint

Constructor Summary

Constructors
Constructor and Description

UavController(UavExecution execution)
Creates a new instance of Controller

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

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`abstract void`	`computeControls()` computes uavExecution controls based on type of controller and current state/command
`void`	`setControls()` applies the computed control settings for the rudder, propellers, and lateral body thrusters
`protected void`	`updateCrossTrackError()` Computes the current crosstrack error

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

- Field Detail
  - uavExecution
```
protected static UavExecution uavExecution
```
    reference to main class of this uavExecution
  - reset
```
protected boolean reset
```
    true if this is the constraints of this controller have been reset
  - powerCommand
```
protected static double powerCommand
```
    commanded power setting.
  - rudderCommand
```
protected static double rudderCommand
```
    commanded rudder setting
  - stabilatorCommand
```
protected static double stabilatorCommand
```
    commanded stabilator setting
  - aileronCommand
```
protected static double aileronCommand
```
    commanded aileron setting
  - pdOnlyTime
```
protected double pdOnlyTime
```
    amount of time after a new command that control will only be PD (not PID)
  - timePIDControl
```
protected double timePIDControl
```
    vehicle time when control will switch from PD to PID (if applicable)
  - error
```
protected double error
```
    current error in the value controlled by this controller
  - errorIntegral
```
protected double errorIntegral
```
    integral of the error of the value controlled by this controller
  - maxIntegral
```
protected double maxIntegral
```
    maximum value that the error integral will be allowed to reach
  - xCommand
```
protected double xCommand
```
    x position of the commanded waypoint
  - yCommand
```
protected double yCommand
```
    y position of the commanded waypoint
  - xStart
```
protected double xStart
```
    starting point y position of the commanded track to the waypoint waypoint
  - yStart
```
protected double yStart
```
    starting point y position of the commanded track to the waypoint waypoint
  - correctToTrack
```
protected boolean correctToTrack
```
    set to true if path to waypoint is over a specific track (false for continuous to)
  - crossTrackError
```
protected double crossTrackError
```
    distance (m) from the nearest point on the commanded track
  - alongTrackRange
```
protected double alongTrackRange
```
    along track range remaining to reach goal point
  - offTrackAngleDegrees
```
protected double offTrackAngleDegrees
```
    angle computed from arc tangent of alongTrackRange and crossTrackError
  - psiError
```
protected double psiError
```
    angular offset in degrees from a commanded track
- Constructor Detail
  - UavController
```
public UavController(UavExecution execution)
```
    Creates a new instance of Controller
    
    Parameters:
    
    execution - instance of UavExecution
- Method Detail
  - updateCrossTrackError
```
protected void updateCrossTrackError()
```
    Computes the current crosstrack error
  - computeControls
```
public abstract void computeControls()
```
    computes uavExecution controls based on type of controller and current state/command
  - setControls
```
public void setControls()
```
    applies the computed control settings for the rudder, propellers, and lateral body thrusters

Class UavController

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

uavExecution

reset

powerCommand

rudderCommand

stabilatorCommand

aileronCommand

pdOnlyTime

timePIDControl

error

errorIntegral

maxIntegral

xCommand

yCommand

xStart

yStart

correctToTrack

crossTrackError

alongTrackRange

offTrackAngleDegrees

psiError

Constructor Detail

UavController

Method Detail

updateCrossTrackError

computeControls

setControls