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

Log the size of each PID parcel.

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

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

Limit for the integral term.

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

float Control::AUV::Speed::Arguments::max_thrust

Maximum thrust limit.

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

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

Minimum thrust limit.

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

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

PID gains for MPS controller.

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

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

PID gains for RPM controller.

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

float Control::AUV::Speed::Arguments::rpms_eos

End of scale value for RPM's at 100% of thurst.

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

Collaboration diagram for Control::AUV::Speed::Arguments: