auterion::LosSpecificForceController Class Reference

Line-of-Sight (LOS) attitude controller for multicopters. More...

#include <auterion_sdk/control/multicopter/los_specific_force_controller.hpp>

Classes
struct	Parameters
struct	State

Public Member Functions
	LosSpecificForceController (const Parameters &parameters)
	Constructs a LosSpecificForceController with the given parameters.
void	setParameters (const Parameters &parameters)
	Updates the controller parameters.
void	update (float dt_s, bool hold, double max_thrust_rate_los_x, const Eigen::Vector3d &los, const Eigen::Vector3d &acc_sp_enu, const Eigen::Quaterniond &attitude_enu, const Eigen::Vector3d &specific_force_flu)
	Runs one update step of the LOS controller.
const State &	state () const
	Returns a const reference to the current controller state.

Detailed Description

Line-of-Sight (LOS) attitude controller for multicopters.

Computes an attitude setpoint and normalized thrust command that drives the vehicle's specific force perpendicular to the LOS vector, while tracking a desired LOS-frame thrust rate along the LOS axis.

Constructor & Destructor Documentation

LosSpecificForceController()

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

explicit

Constructs a LosSpecificForceController with the given parameters.

Parameters

parameters

Initial controller parameters.

Member Function Documentation

setParameters()

void auterion::LosSpecificForceController::setParameters

(

const Parameters &

parameters

)

Updates the controller parameters.

Parameters

parameters

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

update()

void auterion::LosSpecificForceController::update	(	float	dt_s,
		bool	hold,
		double	max_thrust_rate_los_x,
		const Eigen::Vector3d &	los,
		const Eigen::Vector3d &	acc_sp_enu,
		const Eigen::Quaterniond &	attitude_enu,
		const Eigen::Vector3d &	specific_force_flu
	)

Runs one update step of the LOS controller.

Parameters

dt_s	Time step [s].
hold	If true, the controller levels the drone back to hover along LOS.
max_thrust_rate_los_x	Maximum thrust rate along the LOS x-axis [normalized/s].
los	Normalized line-of-sight vector (ENU).
acc_sp_enu	Acceleration setpoint in ENU [m/s²].
attitude_enu	Current vehicle attitude quaternion (ENU).
specific_force_flu	Measured specific force in FLU body frame [m/s²].

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

• include/auterion_sdk/control/multicopter/los_specific_force_controller.hpp