execution.uav.control

Class AirspeedController

java.lang.Object

execution.VehicleController

execution.uav.control.UavController

execution.uav.control.AirspeedController

public class AirspeedController
extends UavController

Extends UavController to implement airspeed control modes. Primarily responsible for control of the horizontal stabilator or elevator

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	knotsSpeed set to true if speed control is in knots (false is meters or feet per second)
protected boolean	manualSpeedControl true if airspeed (elevator) is being manually controlled
protected double	minCommandKnots Minimum commanded speed (knots)
protected double	minCommandSpeed Minimum commanded speed (meters per second)
protected double	speedCommand commanded true air speed

Fields inherited from class execution.uav.control.UavController

aileronCommand, alongTrackRange, correctToTrack, crossTrackError, error, errorIntegral, maxIntegral, offTrackAngleDegrees, pdOnlyTime, powerCommand, psiError, reset, rudderCommand, stabilatorCommand, timePIDControl, uavExecution, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors

Constructor and Description
AirspeedController(UavExecution execution) Creates a new instance of AirspeedController

Method Summary

Methods

Modifier and Type	Method and Description
void	computeControls() computes uavExecution controls based on type of controller and current state/command
void	setMinKnots(double newValue) sets the uavExecution minimum commanded speed
void	setMinSpeed(double newValue) sets the uavExecution minimum commanded speed

Methods inherited from class execution.uav.control.UavController

setControls, updateCrossTrackError

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

knotsSpeed

protected boolean knotsSpeed

set to true if speed control is in knots (false is meters or feet per second)

speedCommand

protected double speedCommand

commanded true air speed

manualSpeedControl

protected boolean manualSpeedControl

true if airspeed (elevator) is being manually controlled

minCommandSpeed

protected double minCommandSpeed

Minimum commanded speed (meters per second)

minCommandKnots

protected double minCommandKnots

Minimum commanded speed (knots)

Constructor Detail

AirspeedController

public AirspeedController(UavExecution execution)

Creates a new instance of AirspeedController

Parameters:

execution - UavExecution instance

Method Detail

computeControls

public void computeControls()

computes uavExecution controls based on type of controller and current state/command

Specified by:

computeControls in class UavController

setMinSpeed

public void setMinSpeed(double newValue)

sets the uavExecution minimum commanded speed

Parameters:

newValue - new value

setMinKnots

public void setMinKnots(double newValue)

sets the uavExecution minimum commanded speed

Parameters:

newValue - new value