모듈 참고: 조종 장치

airship_att_control

Source: modules/airship_att_control

설명

이 모듈은 비행체의 자세, 속도 제어부를 구현합니다. 이상적으로 액츄에이터의 제어 메세지 입출력 용도로 자세 설정값 (vehicle_attitude_setpoint) 또는 속도 설정값 (manual_control_setpoint 토픽의 아크로(acro) 모드) 을 취합니다.

현재 manual_control_setpoint 토픽은 액츄에이터에 직접 전달합니다.

구현

제어 지연을 최소화하려면, 모듈에서는 IMU 드라이버에서 보낸 gyro 토픽을 직접 폴링 처리해야합니다.

Usage

airship_att_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

fw_att_control

Source: modules/fw_att_control

설명

fw_att_control is the fixed wing attitude controller.

Usage

fw_att_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

fw_pos_control_l1

Source: modules/fw_pos_control_l1

설명

fw_pos_control_l1 is the fixed wing position controller.

Usage

fw_pos_control_l1 <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

mc_att_control

Source: modules/mc_att_control

설명

This implements the multicopter attitude controller. It takes attitude setpoints (vehicle_attitude_setpoint) as inputs and outputs a rate setpoint.

The controller has a P loop for angular error

Publication documenting the implemented Quaternion Attitude Control: Nonlinear Quadrocopter Attitude Control (2013) by Dario Brescianini, Markus Hehn and Raffaello D'Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich

https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf

Usage

mc_att_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

mc_pos_control

Source: modules/mc_pos_control

설명

The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).

The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and logging.

Usage

mc_pos_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

mc_rate_control

Source: modules/mc_rate_control

설명

This implements the multicopter rate controller. It takes rate setpoints (in acro mode via manual_control_setpoint topic) as inputs and outputs actuator control messages.

The controller has a PID loop for angular rate error.

Usage

mc_rate_control <command> [arguments...]
 Commands:
   start
     [vtol]      VTOL mode

   stop

   status        print status info

Source: modules/navigator

설명

Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking.

구현

The different internal modes are implemented as separate classes that inherit from a common base class NavigatorMode. The member _navigation_mode contains the current active mode.

Navigator publishes position setpoint triplets (position_setpoint_triplet_s), which are then used by the position controller.

Usage

navigator <command> [arguments...]
 Commands:
   start

   fencefile     load a geofence file from SD card, stored at etc/geofence.txt

   fake_traffic  publishes 4 fake transponder_report_s uORB messages

   stop

   status        print status info

rover_pos_control

Source: modules/rover_pos_control

설명

Controls the position of a ground rover using an L1 controller.

Publishes actuator_controls_0 messages at a constant 250Hz.

구현

Currently, this implementation supports only a few modes:

  • Full manual: Throttle, yaw가 액추에이터를 통해 직접적으로 제어됩니다.
  • 자동 미션: 탐사선이 임무를 수행
  • Loiter: 탐사선이 해당 선회반경 이내로 들어간 후 모터를 멈춥니다.

예제

CLI usage example:

rover_pos_control start
rover_pos_control status
rover_pos_control stop

Usage

rover_pos_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

uuv_att_control

Source: modules/uuv_att_control

설명

Controls the attitude of an unmanned underwater vehicle (UUV).

Publishes actuator_controls_0 messages at a constant 250Hz.

구현

Currently, this implementation supports only a few modes:

  • 완전 수동 방식: 좌우 회전, 상하 회전, 방위 회전, 추력 제어 값을 액츄에이터에 직접 전달
  • 자동 수행 임무: 무인 수중선(UUV)의 임무 수행

예제

CLI usage example:

uuv_att_control start
uuv_att_control status
uuv_att_control stop

Usage

uuv_att_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

vtol_att_control

Source: modules/vtol_att_control

설명

fw_att_control is the fixed wing attitude controller.

Usage

vtol_att_control <command> [arguments...]
 Commands:

   stop

   status        print status info

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