DUNE: Uniform Navigational Environment  2019.02.1
Control::AUV::Attitude::Arguments Struct Reference

Public Attributes

std::vector< float > gains [LP_MAX_LOOPS]
 
float max_int [LP_MAX_LOOPS]
 
float max_fin_rot
 
bool roll_control_enabled
 
float max_pitch_act
 
float max_pitch
 
float extra_pitch
 
float zref_extra
 
bool use_depth_offset
 
float depth_offset
 
bool force_pitch
 
float surface_pitch
 
float max_hrate
 
bool hrate_oloop
 
bool error_attitude
 
bool log_parcels
 
float min_dvl_alt
 
float min_dvl_depth
 
float depth_threshold
 
RollCompensation rc
 
int sampling_rate_relation
 

Member Data Documentation

float Control::AUV::Attitude::Arguments::depth_offset
float Control::AUV::Attitude::Arguments::depth_threshold

Depth threshold to be considered surface.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

float Control::AUV::Attitude::Arguments::extra_pitch

Extra pitch reference beyond maximum.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

bool Control::AUV::Attitude::Arguments::force_pitch

Force positive pitch while at the surface.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

bool Control::AUV::Attitude::Arguments::hrate_oloop
float Control::AUV::Attitude::Arguments::max_hrate
float Control::AUV::Attitude::Arguments::max_int[LP_MAX_LOOPS]
float Control::AUV::Attitude::Arguments::max_pitch
float Control::AUV::Attitude::Arguments::min_dvl_alt

Altitude value below which altitude from DVL will be ignored.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

float Control::AUV::Attitude::Arguments::min_dvl_depth

Depth value below which altitude from DVL will be ignored.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

bool Control::AUV::Attitude::Arguments::roll_control_enabled

Enable or disable roll controller.

Referenced by Control::AUV::Attitude::Task::onEstimatedState(), and Control::AUV::Attitude::Task::Task().

int Control::AUV::Attitude::Arguments::sampling_rate_relation
float Control::AUV::Attitude::Arguments::surface_pitch
bool Control::AUV::Attitude::Arguments::use_depth_offset
float Control::AUV::Attitude::Arguments::zref_extra

Vertical error to apply extra pitch.

Referenced by Control::AUV::Attitude::Task::depthControl(), and Control::AUV::Attitude::Task::Task().

Collaboration diagram for Control::AUV::Attitude::Arguments:
Collaboration graph