Public Attributes
double	sf_p {0.05}
	Proportional gain of the specific-force controller.

double	sf_i {5.0}
	Integral gain of the specific-force controller.

double	att_lpf_tc {0.1}
	Time constant of the attitude setpoint low-pass filter [s]. Set to 0 to disable.

double	roll_limit_deg {180.0}
	Maximum roll angle [deg]. Set to 180 to disable.

double	pitch_limit_deg {90.0}
	Maximum pitch angle [deg]. Set to 90 to disable.

double	cam_vfov {30.0}

double	cam_pitch {0.0}
	Camera pitch angle relative to the drone body, positive up [deg].

double	hover_thrust_normalized {0.5}

double	tilt_max_rate_deg_per_s {20.0}
	Maximum tilt rate [deg/s]. Limits how fast the thrust vector can tilt.

double	roll_max_rate_deg_per_s {90.0}
	Maximum roll rate in body frame [deg/s]. Set to 0 to disable.

Member Data Documentation

◆ cam_vfov

double auterion::LosSpecificForceController::Parameters::cam_vfov {30.0}

Camera vertical field of view [deg]. Used to limit pitch so the target stays in frame. Set to 0 to disable.

double auterion::LosSpecificForceController::Parameters::hover_thrust_normalized {0.5}

Hover thrust as a normalized value in [0, 1]. Used to convert thrust to normalized thrust command.

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