DUNE: Uniform Navigational Environment  2019.02.1
Control::ASV::HeadingAndSpeed::Arguments Struct Reference

Public Attributes

float act_max
 
float act_diff_max
 
float act_ramp
 
float rpm_eos
 
bool rpm_hardware
 
int16_t min_rpm
 
int16_t max_rpm
 
std::vector< float > rpm_gains
 
float rpm_ffgain
 
std::vector< float > mps_gains
 
float mps_ffgain
 
float mps_max_int
 
int16_t max_accel
 
float yaw_max
 
std::vector< float > yaw_gains
 
bool share
 
std::string eid_port
 
std::string eid_starboard
 
bool log_parcels
 

Member Data Documentation

float Control::ASV::HeadingAndSpeed::Arguments::act_diff_max
float Control::ASV::HeadingAndSpeed::Arguments::act_ramp

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

Referenced by Control::ASV::HeadingAndSpeed::Task::dispatchThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().

std::string Control::ASV::HeadingAndSpeed::Arguments::eid_port
std::string Control::ASV::HeadingAndSpeed::Arguments::eid_starboard
int16_t Control::ASV::HeadingAndSpeed::Arguments::max_accel

Maximum acceleration step to smooth speed ramp in mps control.

Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().

int16_t Control::ASV::HeadingAndSpeed::Arguments::max_rpm

Maximum value admissible for desired RPMs for the MPS controller.

Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().

int16_t Control::ASV::HeadingAndSpeed::Arguments::min_rpm

Minimum value admissible for desired RPMs.

Referenced by Control::ASV::HeadingAndSpeed::Task::mpsToRpm(), and Control::ASV::HeadingAndSpeed::Task::Task().

float Control::ASV::HeadingAndSpeed::Arguments::mps_ffgain
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::mps_gains
float Control::ASV::HeadingAndSpeed::Arguments::mps_max_int
float Control::ASV::HeadingAndSpeed::Arguments::rpm_eos

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

Referenced by Control::ASV::HeadingAndSpeed::Task::rpmToThrust(), and Control::ASV::HeadingAndSpeed::Task::Task().

float Control::ASV::HeadingAndSpeed::Arguments::rpm_ffgain
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::rpm_gains
bool Control::ASV::HeadingAndSpeed::Arguments::rpm_hardware
bool Control::ASV::HeadingAndSpeed::Arguments::share
std::vector<float> Control::ASV::HeadingAndSpeed::Arguments::yaw_gains
float Control::ASV::HeadingAndSpeed::Arguments::yaw_max
Collaboration diagram for Control::ASV::HeadingAndSpeed::Arguments:
Collaboration graph