execution.uav.control

Class LoiterController

java.lang.Object

execution.VehicleController

execution.uav.control.UavController

execution.uav.control.LoiterController

public class LoiterController
extends UavController

Extends UavController to implement waypoint control modes

Field Summary

Fields

Modifier and Type	Field and Description
protected double	loiterAltitude MSL altitude to maintain at the loiter point
protected boolean	pointAchieved Set to true after reaching the loiter point
protected double	xCommand x position of the commanded loiter point
protected double	yCommand y position of the commanded loiter point

Fields inherited from class execution.uav.control.UavController

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

Constructor Summary

Constructors

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

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

xCommand

protected double xCommand

x position of the commanded loiter point

yCommand

protected double yCommand

y position of the commanded loiter point

loiterAltitude

protected double loiterAltitude

MSL altitude to maintain at the loiter point

pointAchieved

protected boolean pointAchieved

Set to true after reaching the loiter point

Constructor Detail

LoiterController

public LoiterController(UavExecution execution)

Creates a new instance of LoiterController

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