DUNE: Uniform Navigational Environment  2.3.2
Control::AUV::Speed::Arguments Struct Reference

Public Attributes

float max_thrust
 
float min_thrust
 
float rpm_ffgain
 
bool hardrpms
 
float rpms_eos
 
int16_t min_rpm
 
int16_t max_accel
 
float mps_ffgain
 
std::vector< float > rpm_gains
 
std::vector< float > mps_gains
 
float max_int_mps
 
float ramp_act
 
bool log_parcels
 

Member Data Documentation

bool Control::AUV::Speed::Arguments::hardrpms

Hardware control of the motor's rpms.

Referenced by Control::AUV::Speed::Task::rpmToThrust(), and Control::AUV::Speed::Task::Task().

bool Control::AUV::Speed::Arguments::log_parcels
int16_t Control::AUV::Speed::Arguments::max_accel

Maximum acceleration step to smooth speed ramp in mps control.

Referenced by Control::AUV::Speed::Task::mpsToRpm(), and Control::AUV::Speed::Task::Task().

float Control::AUV::Speed::Arguments::max_int_mps
float Control::AUV::Speed::Arguments::max_thrust
int16_t Control::AUV::Speed::Arguments::min_rpm

Minimum value admissible for desired RPMs.

Referenced by Control::AUV::Speed::Task::mpsToRpm(), and Control::AUV::Speed::Task::Task().

float Control::AUV::Speed::Arguments::min_thrust
float Control::AUV::Speed::Arguments::mps_ffgain

MPS controller feedforward gain.

Referenced by Control::AUV::Speed::Task::mpsToRpm(), and Control::AUV::Speed::Task::Task().

std::vector<float> Control::AUV::Speed::Arguments::mps_gains
float Control::AUV::Speed::Arguments::ramp_act

Ramp actuation limit when the value is rising in actuation per second.

Referenced by Control::AUV::Speed::Task::dispatchThrust(), and Control::AUV::Speed::Task::Task().

float Control::AUV::Speed::Arguments::rpm_ffgain

RPM controller feedforward gain.

Referenced by Control::AUV::Speed::Task::rpmToThrust(), and Control::AUV::Speed::Task::Task().

std::vector<float> Control::AUV::Speed::Arguments::rpm_gains
float Control::AUV::Speed::Arguments::rpms_eos
Collaboration diagram for Control::AUV::Speed::Arguments:
Collaboration graph