con_state_qw_fof_s Struct Reference

Complete state of the attitude FOF on SO(3) or SU(2) More...

#include <cont_types.h>

Data Fields
int	status
double	torque [3]
double	inertia [9]
double	invinertia [9]
double	gain_Kw [9]
double	gain_ki [3]
double	gain_Cw [9]
double	gain_cw
double	gain_cR
double	param_a
double	param_b
double	param_c
double	param_d
double	measuredGyrorates [3]
double	measuredDirections [9]
double	globalDirections [9]

Detailed Description

Complete state of the attitude FOF on SO(3) or SU(2)

Definition at line 89 of file cont_types.h.

Field Documentation

gain_cR

double con_state_qw_fof_s::gain_cR

Gain relating to the attitude rate error

Definition at line 98 of file cont_types.h.

gain_Cw

double con_state_qw_fof_s::gain_Cw[9]

Gain relating to the cross-terms

Definition at line 96 of file cont_types.h.

gain_cw

double con_state_qw_fof_s::gain_cw

Gain relating to the attitude rate error

Definition at line 97 of file cont_types.h.

gain_ki

double con_state_qw_fof_s::gain_ki[3]

Gain relating to the attitude rate error

Definition at line 95 of file cont_types.h.

gain_Kw

double con_state_qw_fof_s::gain_Kw[9]

Gain relating to the attitude error

Definition at line 94 of file cont_types.h.

globalDirections

double con_state_qw_fof_s::globalDirections[9]

Global directions [v1, v2, v3]

Definition at line 105 of file cont_types.h.

inertia

double con_state_qw_fof_s::inertia[9]

Controller inertia

Definition at line 92 of file cont_types.h.

invinertia

double con_state_qw_fof_s::invinertia[9]

Controller inertia inverse

Definition at line 93 of file cont_types.h.

measuredDirections

double con_state_qw_fof_s::measuredDirections[9]

Meas. 1-3 (dirs., acc./mag.) [y1, y2, y3]

Definition at line 104 of file cont_types.h.

measuredGyrorates

double con_state_qw_fof_s::measuredGyrorates[3]

Meas. 0 (gyroscopic rates) y0

Definition at line 103 of file cont_types.h.

param_a

double con_state_qw_fof_s::param_a

Constant related to the PWM-thrust map

Definition at line 99 of file cont_types.h.

param_b

double con_state_qw_fof_s::param_b

Constant related to the PWM-thrust map

Definition at line 100 of file cont_types.h.

param_c

double con_state_qw_fof_s::param_c

Constant related to rotor motor torque

Definition at line 101 of file cont_types.h.

param_d

double con_state_qw_fof_s::param_d

Distance of the rotors to the c.o.m.

Definition at line 102 of file cont_types.h.

status

int con_state_qw_fof_s::status

Controller status, 0 idle, 1 for active

Definition at line 90 of file cont_types.h.

torque

double con_state_qw_fof_s::torque[3]

Controller torques (for actuation)

Definition at line 91 of file cont_types.h.

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The documentation for this struct was generated from the following file:

• cont_types.h