MipTasks::UavHeightControlOptions Class Reference
[Uav Controllers]

Examples of the use of the Options class for a task. More...

#include <UavHeightControl.h>

Inheritance diagram for MipTasks::UavHeightControlOptions:

List of all members.

Public Member Functions
	UavHeightControlOptions ()
	Height reference for direct control mode.
string	getObjectName () const
	Gets the Name of the Options.
Public Attributes
IntOption *	controller_type
	Controller type: 1 = PID, 2 = Backstepping.
DecimalOption *	gain1
DecimalOption *	gain2
	Backstepping gain 1.
DecimalOption *	gain3
	Backstepping gain 2.
DecimalOption *	Kp
	Backstepping gain 3.
DecimalOption *	Kd
	Pid proportional gain.
DecimalOption *	Ki
	Pid derivative gain.
DecimalOption *	thrust_scale_bks
	Pid integral gain.
DecimalOption *	thrust_scale_pid
	thrust_scale for backstepping
BoolOption *	direct_control
	thrust_scale for pid
DecimalOption *	height_ref
	Enables direct control mode.

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Detailed Description

Examples of the use of the Options class for a task.

Author:

Lorenzo Rosa

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Constructor & Destructor Documentation

MipTasks::UavHeightControlOptions::UavHeightControlOptions

(

)

Height reference for direct control mode.

Default constructor.

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Member Function Documentation

string MipTasks::UavHeightControlOptions::getObjectName

(

)

const [inline, virtual]

Gets the Name of the Options.

Returns:

The name the Options.

Implements Options.

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Member Data Documentation

IntOption* MipTasks::UavHeightControlOptions::controller_type

Controller type: 1 = PID, 2 = Backstepping.

DecimalOption* MipTasks::UavHeightControlOptions::gain1

DecimalOption* MipTasks::UavHeightControlOptions::gain2

Backstepping gain 1.

DecimalOption* MipTasks::UavHeightControlOptions::gain3

Backstepping gain 2.

DecimalOption* MipTasks::UavHeightControlOptions::Kp

Backstepping gain 3.

DecimalOption* MipTasks::UavHeightControlOptions::Kd

Pid proportional gain.

DecimalOption* MipTasks::UavHeightControlOptions::Ki

Pid derivative gain.

DecimalOption* MipTasks::UavHeightControlOptions::thrust_scale_bks

Pid integral gain.

DecimalOption* MipTasks::UavHeightControlOptions::thrust_scale_pid

thrust_scale for backstepping

BoolOption* MipTasks::UavHeightControlOptions::direct_control

thrust_scale for pid

DecimalOption* MipTasks::UavHeightControlOptions::height_ref

Enables direct control mode.

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

• tasks/UAV/UavHeightControl.h
• tasks/UAV/UavHeightControl.cpp