DUNE::Control::YoYoMotion Class Reference

Public Member Functions
	YoYoMotion (DUNE::Tasks::Task *task, float pitch, float z_ref, IMC::ZUnits zunits, float amplitude, float variation, float min_alt=5.0f, float max_depth=50.0f)
float	update (bool startup, float depth, float alt, float pitch)
float	stabilize (float desired_pitch, float current_pitch)
bool	isBetweenBounds (float state_z)
void	startedBraking (void)

Constructor & Destructor Documentation

DUNE::Control::YoYoMotion::YoYoMotion ( DUNE::Tasks::Task *  task, float  pitch, float  z_ref, IMC::ZUnits  zunits, float  amplitude, float  variation, float  min_alt = 5.0f, float  max_depth = 50.0f  )

inline

Constructor.

Parameters

[in]	task	pointer to calling task
[in]	pitch	pitch angle to use in motion
[in]	z_ref	z reference for yoyo motion
[in]	z_units	z reference units for yoyo motion
[in]	amplitude	z reference amplitude for yoyo motion
[in]	variation	maximum variation for the pitch angle
[in]	min_alt	minimum altitude reference admissible

Member Function Documentation

bool DUNE::Control::YoYoMotion::isBetweenBounds ( float  state_z )

inline

Check if vehicle is between yoyo bounds.

Parameters

[in]

state_z

current z state

Returns

true if so, false otherwise

Referenced by Maneuver::CompassCalibration::Task::onPathControlState().

float DUNE::Control::YoYoMotion::stabilize ( float  desired_pitch, float  current_pitch  )

inline

Stabilize pitch in a certain value.

Parameters

[in]	desired_pitch	pitch angle at which to stabilize
[in]	current_pitch	current pitch angle

Returns

pitch angle to command

Referenced by Maneuver::Multiplexer::YoYo::update().

void DUNE::Control::YoYoMotion::startedBraking ( void  )

inline

System is now braking.

Referenced by Maneuver::Multiplexer::YoYo::onBrake().

float DUNE::Control::YoYoMotion::update ( bool  startup, float  depth, float  alt, float  pitch  )

inline

Update yoyo motion.

Parameters

[in]	startup	whether or not the yoyo motion is starting now
[in]	depth	current depth position
[in]	altitude	current altitude position
[in]	pitch	current pitch angle

Returns

new pitch command

References DUNE::Tasks::Task::debug(), and DUNE::IMC::Z_DEPTH.

Referenced by Maneuver::Multiplexer::YoYo::update(), and Maneuver::CompassCalibration::Task::yoyoMotion().

Collaboration diagram for DUNE::Control::YoYoMotion: