execution.uav.control

Class AltitudeController

java.lang.Object

execution.VehicleController

execution.uav.control.UavController

execution.uav.control.AltitudeController

public class AltitudeController
extends UavController

Extends UavController to implement altitude control modes Primarily responsible for controlling engine power

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	aglAltitude true if commanded altitude is above ground level (false for mean sea level)
protected double	altitudeCommand commanded altitude
protected double	cruiseTAS normal cruise true air speed
protected boolean	fixedClimbRate true if climb rate is specifically commanded (closed loop rate vs altitude control)
protected boolean	manualAltitudeControl true if altitude control is open loop (manual engine power control)
protected double	minCommandAltitude minimum altitude that can be commanded
protected double	orderedZDot ordered climb rate if control is manual
static double	STANDARD_RATE_CLIMB standard climb rate (500' per minute in meters per second)

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
AltitudeController(UavExecution execution) Creates a new instance of AltitudeController

Method Summary

Methods

Modifier and Type	Method and Description
void	computeControls() computes uavExecution controls based on type of controller and current state/command

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

minCommandAltitude

protected double minCommandAltitude

minimum altitude that can be commanded

cruiseTAS

protected double cruiseTAS

normal cruise true air speed

altitudeCommand

protected double altitudeCommand

commanded altitude

aglAltitude

protected boolean aglAltitude

true if commanded altitude is above ground level (false for mean sea level)

STANDARD_RATE_CLIMB

public static final double STANDARD_RATE_CLIMB

standard climb rate (500' per minute in meters per second)

See Also:

Constant Field Values

manualAltitudeControl

protected boolean manualAltitudeControl

true if altitude control is open loop (manual engine power control)

fixedClimbRate

protected boolean fixedClimbRate

true if climb rate is specifically commanded (closed loop rate vs altitude control)

orderedZDot

protected double orderedZDot

ordered climb rate if control is manual

Constructor Detail

AltitudeController

public AltitudeController(UavExecution execution)

Creates a new instance of AltitudeController

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