Package jaron.autopilot

Provides the classes for the UAV Playground autopilot that includes stabilization and navigation.

See:
          Description

Class Summary
FlightData The FlightData class provides the functionality for the input and output data handling within the autopilot.
FlightGearGpsReceiver The FlightGearGpsReceiver class provides a TCP/IP connection to the FlightGear flight simulator (FG) via the FG NMEA output interface.
FlightGearMotionSensor The FlightGearMotionSensor connects to the FlightGear flight simulator and provides its motion data.
FlightGearServoController The FlightGearServoController class provides access to the controls (e.g. aileron, elevator, rudder, throttle) of an airplane in the FlightGear flight simulator.
MissionController The MissionController class provides the functionality for guiding a vehicle through a mission that is defined by a starting point (home) and an unlimited number of navigation waypoints.
MotionController The MotionController class provides the functionality for stabilizing and guiding a vehicle.
Navigation The Navigation class provides the functionality for navigating a vehicle using navigation waypoints.
Stabilization The Stabilization class provides a PID controller algorithm.
Stabilization.PID The PID class provides the PID gains and holds the current state of the PID controller.
 

Package jaron.autopilot Description

Provides the classes for the UAV Playground autopilot that includes stabilization and navigation.
Every autopilot component provides its output data to the FlightData component and an unlimited number of components can receive this data as their input. The event handling mechanism of the Signal class is used to publish the data whenever a certain value has changed.

FlightData Input/Output

Compontent Input Output
MotionSensor   pitchAngle (->MotionController)
rollAngle (->MotionController)
airSpeed (->Display)
pitchAngularRate (->Display)
rollAngularRate (->Display)
yawAngularRate (->Display)
GpsReceiver   latitude (->MissionController)
longitude (.>MissionController)
courseOverGround (->MissionController)
speedOverGround (->MissionController)
altitudeAbsolute (->Display)
satellites (unused)
ServoController aileronOutput (MotionController->)
elevatorOutput (MotionController->)
rudderOutput (Stick->)
throttleOutput (Stick->)
 
MotionController aileronInput (Stick->)
elevatorInput (Stick->)
pitchAngle (MotionSensor->)
rollAngle (MotionSensor->)
pitchAnglePreset (MotionController->)
rollAnglePreset (MotionController->)
pitchTrim (unused)
rollTrim (unused)
aileronOutput (->ServoController)
elevatorOutput (->ServoController)
MissionController latitude (GpsReceiver->)
longitude (GpsReceiver->)
courseOverGround (GpsReceiver->)
speedOverGround (GpsReceiver->)
targetCourse (->Display)
pitchAnglePreset (->MotionController)
rollAnglePreset (->MotionController)

Since:
1.2