ManualRPYTController Class Reference

A controller that passes joystick commands to a drone's RPYT controller. More...

#include <manual_rpyt_controller.h>

Inheritance diagram for ManualRPYTController:

Collaboration diagram for ManualRPYTController:

Public Member Functions
virtual	~ManualRPYTController ()
	Destructor. More...
Public Member Functions inherited from Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust >
virtual bool	run (JoysticksYawsensor_data, RollPitchYawThrust &control)
	Run the control loop and return control arguments. More...
ControllerStatus	isConverged (JoysticksYawsensor_data)
	Check if controller is converged. More...
virtual void	setGoal (EmptyGoalgoal)
	set the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual EmptyGoal	getGoal () const
	get the goal condition for the controller. Should use internal locking as the run function can be called from a separate thread More...
virtual	~Controller ()
	Destructor. More...

Protected Member Functions
virtual bool	runImplementation (JoysticksYaw sensor_data, EmptyGoal goal, RollPitchYawThrust &control)
	Run the control loop. Converts Joystick commands to RPYT. More...
virtual ControllerStatus	isConvergedImplementation (JoysticksYaw, EmptyGoal)
	Default implementation since there is no concept of convergence for manual rpyt controller. More...

Detailed Description

A controller that passes joystick commands to a drone's RPYT controller.

Constructor & Destructor Documentation

virtual ManualRPYTController::~ManualRPYTController ( )

inlinevirtual

Destructor.

Member Function Documentation

virtual ControllerStatus ManualRPYTController::isConvergedImplementation ( JoysticksYaw  , EmptyGoal    )

inlineprotectedvirtual

Default implementation since there is no concept of convergence for manual rpyt controller.

Returns

controller status that contains an enum and debug information.

Implements Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust >.

bool ManualRPYTController::runImplementation ( JoysticksYaw  sensor_data, EmptyGoal  goal, RollPitchYawThrust &  control  )

protectedvirtual

Run the control loop. Converts Joystick commands to RPYT.

Parameters

sensor_data	Joystick commands to be converted into RPYT.
goal	Goal is not used here
control	RPYT to send to hardware return True if successfully converted sensor data to control

Todo:

(matt): need to pass RC mapping as parameter

Todo:

(matt): need to pass in frequency as a parameter

Implements Controller< JoysticksYaw, EmptyGoal, RollPitchYawThrust >.

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The documentation for this class was generated from the following files:

• include/aerial_autonomy/controllers/manual_rpyt_controller.h
• src/controllers/manual_rpyt_controller.cpp