auterion::multicopter::LocalFrameAccelerationSetpoint Class Reference

Represents a setpoint to control acceleration, heading and angular rate in local frame. More...

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

Classes
class	Config
	Placeholder config. More...

Public Member Functions
Eigen::Vector3f	getAcceleration () const
float	getHeading () const
float	getHeadingRate () const
LocalFrameAccelerationSetpoint &	withAcceleration (const Eigen::Vector3f &acceleration_local_enu_m_s2)
LocalFrameAccelerationSetpoint &	withHorizontalAcceleration (const Eigen::Vector2f &acceleration_local_enu_m_s2)
LocalFrameAccelerationSetpoint &	withVerticalAcceleration (float acceleration_local_enu_m_s2)
LocalFrameAccelerationSetpoint &	withHeading (float heading_rad)
LocalFrameAccelerationSetpoint &	withHeadingRate (float heading_rate_rad_s)

Detailed Description

Represents a setpoint to control acceleration, heading and angular rate in local frame.

Use this when the mode commands accelerations only: this setpoint does not require a valid local position. Vertical control still requires local altitude.

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

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