execution.uav.control

Class HeadingController

java.lang.Object

execution.VehicleController

execution.uav.control.UavController

execution.uav.control.HeadingController

public class HeadingController
extends UavController

Extends UavController to implement heading control modes Implements both heading control and side slip control

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	fixedTurnRate true if climb rate is specifically commanded (closed loop rate vs altitude control)
protected boolean	manualHeadingControl true if rudder and ailerons are being controlled manually
protected double	orderedPsiDot ordered climb rate if control is manual
protected double	psiCommand commanded heading
static double	STANDARD_RATE_TURN standard turn rate (degrees per second)
protected double	turnRateMultiple multiple applied to standard turn rate to determine commanded turn rate

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
HeadingController(UavExecution execution) Creates a new instance of HeadingController

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

psiCommand

protected double psiCommand

commanded heading

STANDARD_RATE_TURN

public static final double STANDARD_RATE_TURN

standard turn rate (degrees per second)

See Also:

Constant Field Values

turnRateMultiple

protected double turnRateMultiple

multiple applied to standard turn rate to determine commanded turn rate

manualHeadingControl

protected boolean manualHeadingControl

true if rudder and ailerons are being controlled manually

fixedTurnRate

protected boolean fixedTurnRate

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

orderedPsiDot

protected double orderedPsiDot

ordered climb rate if control is manual

Constructor Detail

HeadingController

public HeadingController(UavExecution execution)

Creates a new instance of HeadingController

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