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java.lang.Objectjava.lang.Thread
jaron.autopilot.MotionController
public class MotionController
The MotionController
class provides the functionality for
stabilizing and guiding a vehicle. It uses a motion sensor (through the
FlightData
component) and expects its output for roll an pitch
angles to be within -180 to 180 degrees - where 0 is level flight.
The motion controller stabilizes the vehicle as long as there is no external
stick input for elevator or aileron.
The pitch and roll at which the vehicle is stabilized preset externally. This
is used to guide the vehicle by an external component like the
MissionController
Nested Class Summary |
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Nested classes/interfaces inherited from class java.lang.Thread |
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java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler |
Field Summary | |
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static float |
DEFAULT_UPDATE_FREQUENCY
The default update frequency of the MotionController
is set to 10.0f Hz. |
Fields inherited from class java.lang.Thread |
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MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY |
Constructor Summary | |
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MotionController()
Creates an new MotionController object. |
Method Summary | |
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Signal |
getAileronInput()
Returns a reference to the aileron input. |
Signal |
getAileronOutput()
Returns a reference to the aileron output. |
Signal |
getElevatorInput()
Returns a reference to the elevator input. |
Signal |
getElevatorOutput()
Returns a reference to the elevator output. |
Signal |
getPitchAngle()
Returns a reference to the pitch angle input. |
Signal |
getPitchAnglePreset()
Returns a reference to the pitch angle input. |
Signal |
getPitchGainD()
Returns a reference to the pitch stabilization PID parameter gain-D. |
Signal |
getPitchGainI()
Returns a reference to the pitch stabilization PID parameter gain-I. |
Signal |
getPitchGainP()
Returns a reference to the pitch stabilization PID parameter gain-P. |
Signal |
getPitchMaxI()
Returns a reference to the pitch stabilization PID parameter max-I. |
Signal |
getPitchMinI()
Returns a reference to the pitch stabilization PID parameter min-I. |
Signal |
getPitchTrim()
Returns a reference to the pitch angle output. |
Signal |
getRollAngle()
Returns a reference to the roll angle output. |
Signal |
getRollAnglePreset()
Returns a reference to the roll angle input. |
Signal |
getRollGainD()
Returns a reference to the roll stabilization PID parameter gain-D. |
Signal |
getRollGainI()
Returns a reference to the roll stabilization PID parameter gain-I. |
Signal |
getRollGainP()
Returns a reference to the roll stabilization PID parameter gain-P. |
Signal |
getRollMaxI()
Returns a reference to the pitch stabilization PID parameter max-I. |
Signal |
getRollMinI()
Returns a reference to the roll stabilization PID parameter min-I. |
Signal |
getRollTrim()
Returns a reference to the roll angle input. |
void |
run()
|
void |
startStabilizing()
Starts the motion controller. |
void |
stopStabilizing()
Stops the motion controller. |
Methods inherited from class java.lang.Thread |
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activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public static final float DEFAULT_UPDATE_FREQUENCY
MotionController
is set to 10.0f Hz.
Constructor Detail |
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public MotionController()
MotionController
object.
Method Detail |
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public Signal getAileronInput()
public Signal getElevatorInput()
public Signal getAileronOutput()
public Signal getElevatorOutput()
public Signal getPitchAnglePreset()
public Signal getRollAnglePreset()
public Signal getPitchAngle()
public Signal getRollAngle()
public Signal getRollTrim()
public Signal getPitchTrim()
public Signal getPitchGainP()
Stabilization.PID
public Signal getPitchGainI()
Stabilization.PID
public Signal getPitchGainD()
Stabilization.PID
public Signal getPitchMinI()
Stabilization.PID
public Signal getPitchMaxI()
Stabilization.PID
public Signal getRollGainP()
Stabilization.PID
public Signal getRollGainI()
Stabilization.PID
public Signal getRollGainD()
Stabilization.PID
public Signal getRollMinI()
Stabilization.PID
public Signal getRollMaxI()
Stabilization.PID
public void run()
run
in interface java.lang.Runnable
run
in class java.lang.Thread
public void startStabilizing()
public void stopStabilizing()
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