execution.uav.control

Class UavControlParameters

java.lang.Object

execution.ControlParameters

execution.uav.control.UavControlParameters

public class UavControlParameters
extends ControlParameters

Contains variables required for setting vehicle and sensor control modes These variables may change during the course of a run

Also contains an overloaded parseCommand function (1 version for text commands, one for AVCL) that will set these variables. These functions are loosely based on an older version of execution level software written by Miguel Ayala, Don Brutzman and Duane Davis

Version:

$Id: UavControlParameters.java 8668 2012-12-11 20:27:28Z brutzman $

Nested Class Summary

Nested classes/interfaces inherited from class execution.ControlParameters

ControlParameters.CommandParser

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	CRUISESPEED Minimum power required airspeed
protected double	MAXAILERON Maximum aileron setting
protected double	MAXCLIMBRATE Maximum orderable turn rate (degrees per second)
protected double	MAXPOWER Maximum power setting
protected double	MAXRUDDER Maximum rudder setting
protected double	MAXSTABILATOR Maximum stabilator setting
protected double	MAXTURNRATE Maximum orderable turn rate (degrees per second)
boolean	radianAngles Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted
protected boolean	reportStable true if uavExecution needs to report completion of current command
static double	timeStep closed loop timing increment (seconds)

Fields inherited from class execution.ControlParameters

commandCompleteMsgSent, continueRun, readyNextCommand, standoffDistance, vehicle, workbenchCommunicator, xCommand, xStart, yCommand, yStart

Constructor Summary

Constructors

Constructor and Description
UavControlParameters(UavExecution execution) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
double	getMaxAileron()
double	getMaxPower()
double	getMaxRudder()
double	getMaxStabilator()
double	getStandoffDistance()
double	getTimeStep() returns the uavExecution time step
void	loadControlLimits(ExecutionDynamicsConfiguration config) Sets the control limit values based on the configuration file
boolean	parseCommand(Object commandElement) parseCommand parses an XML (AVCL) script command and sets the control parameter values as required
boolean	parseCommand(String commandString) parseCommand parses a space-delimited text script command and sets the control parameter values as required
void	setMaxAileron(double newValue) sets the uavExecution maximum aileron setting
void	setMaxPower(double newValue) sets the uavExecution maximum power setting
void	setMaxRudder(double newValue) sets the uavExecution maximum rudder setting
void	setMaxStabilator(double newValue) sets the uavExecution maximum stabilator setting
void	setMission(Mission mission) Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)
void	setStandoffDistance(double newValue) sets the uavExecution standoff distance
void	setTimeStep(double newValue) sets the uavExecution time step
void	useMetricDistances(boolean newSetting) sets the distance units of measure to either meters or feet (default).
void	useRadianAngles(boolean newSetting) sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Methods inherited from class execution.ControlParameters

getStandoff, getXCommand, getXStart, getYCommand, getYStart, isTimedCommand, parseTelemetryPostCommon, readyForNextCommand, setReadyNextCommand, setTimedCommand, setWorkbenchCommunicator, unsetReadyNextCommand

Methods inherited from class java.lang.Object

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

Field Detail

reportStable

protected boolean reportStable

true if uavExecution needs to report completion of current command

timeStep

public static double timeStep

closed loop timing increment (seconds)

CRUISESPEED

protected static final double CRUISESPEED

Minimum power required airspeed

See Also:

Constant Field Values

MAXPOWER

protected double MAXPOWER

Maximum power setting

MAXRUDDER

protected double MAXRUDDER

Maximum rudder setting

MAXSTABILATOR

protected double MAXSTABILATOR

Maximum stabilator setting

MAXAILERON

protected double MAXAILERON

Maximum aileron setting

MAXCLIMBRATE

protected double MAXCLIMBRATE

Maximum orderable turn rate (degrees per second)

MAXTURNRATE

protected double MAXTURNRATE

Maximum orderable turn rate (degrees per second)

radianAngles

public boolean radianAngles

Control constants and mathematical model use degrees, so if the mission uses radians, angles need to be converted

Constructor Detail

UavControlParameters

public UavControlParameters(UavExecution execution)

Constructor

Parameters:

execution - reference to uavExecution to which this object applies

Method Detail

setMission

public void setMission(Mission mission)

Description copied from class: ControlParameters

Just to allow instance to configure itself based on mission specifics (i.e., telemetry type)

Specified by:

setMission in class ControlParameters

Parameters:

mission - instance of execution.mission.Mission

getTimeStep

public double getTimeStep()

returns the uavExecution time step

Specified by:

getTimeStep in class ControlParameters

Returns:

double-precision value

getStandoffDistance

public double getStandoffDistance()

Returns:

the uavExecution standoff distance

getMaxPower

public double getMaxPower()

Returns:

the uavExecution maximum power setting

getMaxRudder

public double getMaxRudder()

Returns:

the uavExecution maximum rudder setting

getMaxStabilator

public double getMaxStabilator()

Returns:

the uavExecution maximum stabilator setting

getMaxAileron

public double getMaxAileron()

Returns:

the uavExecution maximum aileron setting

setTimeStep

public void setTimeStep(double newValue)

sets the uavExecution time step

Parameters:

newValue - new value

setStandoffDistance

public void setStandoffDistance(double newValue)

sets the uavExecution standoff distance

Parameters:

newValue - new value

setMaxPower

public void setMaxPower(double newValue)

sets the uavExecution maximum power setting

Parameters:

newValue - new value

setMaxRudder

public void setMaxRudder(double newValue)

sets the uavExecution maximum rudder setting

Parameters:

newValue - new value

setMaxStabilator

public void setMaxStabilator(double newValue)

sets the uavExecution maximum stabilator setting

Parameters:

newValue - new value

setMaxAileron

public void setMaxAileron(double newValue)

sets the uavExecution maximum aileron setting

Parameters:

newValue - new value

loadControlLimits

public void loadControlLimits(ExecutionDynamicsConfiguration config)

Sets the control limit values based on the configuration file

Parameters:

config - JAXB object containing all configuration data

useMetricDistances

public void useMetricDistances(boolean newSetting)

sets the distance units of measure to either meters or feet (default). Only valid for AVCL missions--text will ALWAYS use feet

Specified by:

useMetricDistances in class ControlParameters

Parameters:

newSetting - true if mission command distance units will be meters (false for feet)

useRadianAngles

public void useRadianAngles(boolean newSetting)

sets the angular units of measure to either radians or degrees (default) Only valid for AVCL missions--text will ALWAYS use degrees

Specified by:

useRadianAngles in class ControlParameters

Parameters:

newSetting - Setting true if mission command angular units will be radians (false for degrees)

parseCommand

public boolean parseCommand(Object commandElement)

parseCommand parses an XML (AVCL) script command and sets the control parameter values as required

Specified by:

parseCommand in class ControlParameters

Parameters:

commandElement - is current AVCL command to be parsed

Returns:

true if command is valid for continued processing, otherwise returns false if another command should immediately be requested

parseCommand

public boolean parseCommand(String commandString)

parseCommand parses a space-delimited text script command and sets the control parameter values as required

Specified by:

parseCommand in class ControlParameters

Parameters:

commandString - is current text command to be parsed

Returns:

true if command is valid for continued processing, otherwise returns false if another command should immediately be requested