Public Attributes
Eigen::Matrix3d	los_to_enu {Eigen::Matrix3d::Identity()}
	Rotation matrix from LOS frame to ENU frame.

Eigen::Vector3d	sf_sp_enu {Eigen::Vector3d::Zero()}
	Specific force setpoint in ENU frame [m/s²].

Eigen::Vector3d	sf_sp_los {Eigen::Vector3d::Zero()}

Eigen::Vector3d	sf_los {Eigen::Vector3d::Zero()}
	Measured specific force in LOS frame [m/s²]. X component is always 0.

Eigen::Vector3d	thrust_sp_enu {Eigen::Vector3d::Zero()}
	Thrust setpoint in ENU frame [normalized].

Eigen::Vector3d	thrust_sp_los {Eigen::Vector3d::Zero()}
	Thrust setpoint in LOS frame [normalized].

double	desired_thrust_rate_los_x {0.0}
	Thrust rate being applied along the LOS x-axis [normalized/s].

Eigen::Quaterniond	attitude_sp_enu {Eigen::Quaterniond::Identity()}
	Attitude setpoint in ENU frame (after filtering and limiting).

double	thrust_command_normalized {0.0}
	Normalized thrust command in [0, 1].

double	thrust_command_abs {0.0}
	Absolute thrust command [normalized, unbounded before hover thrust scaling].

Eigen::Vector3d	sf_los_error_prev {Eigen::Vector3d::Zero()}
	Previous specific force error in LOS frame. Used internally by the velocity-form PID.

Eigen::Vector3d	sf_los_prev {Eigen::Vector3d::Zero()}
	Previous measured specific force in LOS frame. Used internally by the velocity-form PID.

bool	initialized {false}
	False until the first call to update(), after which the controller is fully initialized.

Member Data Documentation

◆ sf_sp_los

Eigen::Vector3d auterion::LosSpecificForceController::State::sf_sp_los {Eigen::Vector3d::Zero()}

Specific force setpoint in LOS frame [m/s²]. X component is always 0 (no control along LOS).

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