execution.uav.control

Class UavController

java.lang.Object

execution.VehicleController

execution.uav.control.UavController

Direct Known Subclasses:

AirspeedController, AltitudeController, HeadingController, LoiterController, OpenLoopController, WaypointController

public abstract class UavController
extends VehicleController

Abstract class for implementing specific UAV control modes

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	aileronCommand commanded aileron setting
protected double	alongTrackRange along track range remaining to reach goal point
protected boolean	correctToTrack set to true if path to waypoint is over a specific track (false for continuous to)
protected double	crossTrackError distance (m) from the nearest point on the commanded track
protected double	error current error in the value controlled by this controller
protected double	errorIntegral integral of the error of the value controlled by this controller
protected double	maxIntegral maximum value that the error integral will be allowed to reach
protected double	offTrackAngleDegrees angle computed from arc tangent of alongTrackRange and crossTrackError
protected double	pdOnlyTime amount of time after a new command that control will only be PD (not PID)
protected static double	powerCommand commanded power setting.
protected double	psiError angular offset in degrees from a commanded track
protected boolean	reset true if this is the constraints of this controller have been reset
protected static double	rudderCommand commanded rudder setting
protected static double	stabilatorCommand commanded stabilator setting
protected double	timePIDControl vehicle time when control will switch from PD to PID (if applicable)
protected static UavExecution	uavExecution reference to main class of this uavExecution
protected double	xCommand x position of the commanded waypoint
protected double	xStart starting point y position of the commanded track to the waypoint waypoint
protected double	yCommand y position of the commanded waypoint
protected double	yStart starting point y position of the commanded track to the waypoint waypoint

Constructor Summary

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
abstract void	computeControls() computes uavExecution controls based on type of controller and current state/command
void	setControls() applies the computed control settings for the rudder, propellers, and lateral body thrusters
protected void	updateCrossTrackError() Computes the current crosstrack error

Methods inherited from class java.lang.Object

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

Field Detail

uavExecution

protected static UavExecution uavExecution

reference to main class of this uavExecution

reset

protected boolean reset

true if this is the constraints of this controller have been reset

powerCommand

protected static double powerCommand

commanded power setting.

rudderCommand

protected static double rudderCommand

commanded rudder setting

stabilatorCommand

protected static double stabilatorCommand

commanded stabilator setting

aileronCommand

protected static double aileronCommand

commanded aileron setting

pdOnlyTime

protected double pdOnlyTime

amount of time after a new command that control will only be PD (not PID)

timePIDControl

protected double timePIDControl

vehicle time when control will switch from PD to PID (if applicable)

error

protected double error

current error in the value controlled by this controller

errorIntegral

protected double errorIntegral

integral of the error of the value controlled by this controller

maxIntegral

protected double maxIntegral

maximum value that the error integral will be allowed to reach

xCommand

protected double xCommand

x position of the commanded waypoint

yCommand

protected double yCommand

y position of the commanded waypoint

xStart

protected double xStart

starting point y position of the commanded track to the waypoint waypoint

yStart

protected double yStart

starting point y position of the commanded track to the waypoint waypoint

correctToTrack

protected boolean correctToTrack

set to true if path to waypoint is over a specific track (false for continuous to)

crossTrackError

protected double crossTrackError

distance (m) from the nearest point on the commanded track

alongTrackRange

protected double alongTrackRange

along track range remaining to reach goal point

offTrackAngleDegrees

protected double offTrackAngleDegrees

angle computed from arc tangent of alongTrackRange and crossTrackError

psiError

protected double psiError

angular offset in degrees from a commanded track

Constructor Detail

UavController

public UavController(UavExecution execution)

Creates a new instance of Controller

Parameters:

execution - instance of UavExecution

Method Detail

updateCrossTrackError

protected void updateCrossTrackError()

Computes the current crosstrack error

computeControls

public abstract void computeControls()

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

setControls

public void setControls()

applies the computed control settings for the rudder, propellers, and lateral body thrusters