auterion::BodyFrameSpecificForceController Class Reference

Specific-force to body-rate controller for fixed-wing aircraft. More...

#include <auterion_sdk/control/fixedwing/body_frame_specific_force_controller.hpp>

Classes
struct	Parameters
struct	State

Public Member Functions
	BodyFrameSpecificForceController (const Parameters &parameters)
	Constructs a BodyFrameSpecificForceController with the given parameters.
void	setParameters (const Parameters &parameters)
	Updates controller parameters.
void	update (double dt, const Eigen::Vector3d &acc_sp_enu, const Eigen::Quaterniond &attitude_enu, const Eigen::Vector3d &specific_force_flu, std::optional< double > true_airspeed, std::optional< Eigen::Vector3d > los=std::nullopt)
	Runs one update step of the body-rate controller.
const State &	state () const
	Returns a const reference to the current controller state.

Detailed Description

Specific-force to body-rate controller for fixed-wing aircraft.

Converts a guidance acceleration setpoint in ENU frame to roll/pitch/yaw body-rate setpoints and a normalized thrust command, using a hybrid bank-to-turn / skid-to-turn (BTT/STT) law with airspeed-scaled PI controllers.

Constructor & Destructor Documentation

BodyFrameSpecificForceController()

auterion::BodyFrameSpecificForceController::BodyFrameSpecificForceController ( const Parameters &  parameters )

explicit

Constructs a BodyFrameSpecificForceController with the given parameters.

Parameters

parameters

Initial controller parameters.

Member Function Documentation

setParameters()

void auterion::BodyFrameSpecificForceController::setParameters

(

const Parameters &

parameters

)

Updates controller parameters.

Parameters

parameters

New parameters, applied on the next call to update().

update()

void auterion::BodyFrameSpecificForceController::update	(	double	dt,
		const Eigen::Vector3d &	acc_sp_enu,
		const Eigen::Quaterniond &	attitude_enu,
		const Eigen::Vector3d &	specific_force_flu,
		std::optional< double >	true_airspeed,
		std::optional< Eigen::Vector3d >	los = std::nullopt
	)

Runs one update step of the body-rate controller.

Parameters

dt	Time step [s].
acc_sp_enu	Guidance acceleration setpoint in ENU frame [m/s²].
attitude_enu	Current vehicle attitude quaternion (ENU convention).
specific_force_flu	Measured body-frame specific force in FLU convention [m/s²].
true_airspeed	True airspeed [m/s]; if empty, falls back to approach_airspeed.
los	Normalized line-of-sight vector (ENU). Required only when the camera VFOV pitch limiter is enabled (pitch_lim_camera_vertical_fov > 0). Pass std::nullopt to skip the limiter entirely regardless of the parameter setting.

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The documentation for this class was generated from the following file:

• include/auterion_sdk/control/fixedwing/body_frame_specific_force_controller.hpp