Public Attributes
double	roll_gain {0.0}
	Roll P gain [rad/s per rad of roll error].

double	max_roll_angle {45.0}
	Maximum roll angle [deg].

double	sf_roll_i_gain {0.0}
	Integral gain for specific-force-based roll error compensation.

double	sf_z_gain_p {0.0}
	Pitch body-acceleration PI: proportional gain.

double	sf_z_gain_i {0.0}
	Pitch body-acceleration PI: integral gain.

double	sf_y_gain_p {0.0}
	Yaw body-acceleration PI: proportional gain.

double	sf_y_gain_i {0.0}
	Yaw body-acceleration PI: integral gain.

double	max_side_acc_trim {0.0}
	Maximum side-slip acceleration at trim airspeed [m/s²].

double	trim_airspeed {20.0}
	Trim airspeed used for BTT/STT scaling and PI gain normalization [m/s].

double	approach_airspeed {20.0}

double	airspeed_gain_p {0.0}
	Airspeed PI: proportional gain.

double	airspeed_gain_i {0.0}
	Airspeed PI: integral gain.

double	airspeed_ramp_slope {2.0}
	Maximum slope of the airspeed command ramp [m/s per s].

double	pitch_lim_camera_vertical_fov {0.0}

double	camera_tilt {0.0}
	Camera pitch angle relative to the drone body frame, positive upward [deg].

Member Data Documentation

◆ approach_airspeed

double auterion::BodyFrameSpecificForceController::Parameters::approach_airspeed {20.0}

Approach airspeed: used as the airspeed controller target and as fallback when no airspeed measurement is available [m/s].

double auterion::BodyFrameSpecificForceController::Parameters::pitch_lim_camera_vertical_fov {0.0}

Camera vertical field of view [deg]. Limits pitch rate to keep the target in frame. Set to 0 to disable.

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