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

#include <cont_types.h>

Data Fields
int	status

double	thrust

double	torque [3]

double	inertia [9]

double	gain_kR

double	gain_kc

double	gain_kw

double	gain_eps

double	gain_L

double	param_a

double	param_b

double	param_c

double	param_d

double	dist_Psi

double	dist_Gamma

double	dist_lyapunov

Detailed Description

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

Definition at line 67 of file cont_types.h.

Field Documentation

◆ dist_Gamma

double con_state_qw_fsf_s::dist_Gamma

Attitude error on SU(2) (for analysis)

Definition at line 82 of file cont_types.h.

◆ dist_lyapunov

double con_state_qw_fsf_s::dist_lyapunov

Lyapunov function (for analysis)

Definition at line 83 of file cont_types.h.

◆ dist_Psi

double con_state_qw_fsf_s::dist_Psi

Attitude error on SO(3) (for analysis)

Definition at line 81 of file cont_types.h.

◆ gain_eps

double con_state_qw_fsf_s::gain_eps

Disturbance UB gain (only used by robust conts.)

Definition at line 75 of file cont_types.h.

◆ gain_kc

double con_state_qw_fsf_s::gain_kc

Gain relating to the cross-terms

Definition at line 73 of file cont_types.h.

◆ gain_kR

double con_state_qw_fsf_s::gain_kR

Gain relating to the attitude error

Definition at line 72 of file cont_types.h.

◆ gain_kw

double con_state_qw_fsf_s::gain_kw

Gain relating to the attitude rate error

Definition at line 74 of file cont_types.h.

◆ gain_L

double con_state_qw_fsf_s::gain_L

Disturbance bound (only used by robust conts.)

Definition at line 76 of file cont_types.h.

◆ inertia

double con_state_qw_fsf_s::inertia[9]

Controller inertia

Definition at line 71 of file cont_types.h.

◆ param_a

double con_state_qw_fsf_s::param_a

Constant related to the PWM-thrust map

Definition at line 77 of file cont_types.h.

◆ param_b

double con_state_qw_fsf_s::param_b

Constant related to the PWM-thrust map

Definition at line 78 of file cont_types.h.

◆ param_c

double con_state_qw_fsf_s::param_c

Constant related to rotor motor torque

Definition at line 79 of file cont_types.h.

◆ param_d

double con_state_qw_fsf_s::param_d

Distance of the rotors to the center of mass

Definition at line 80 of file cont_types.h.

◆ status

int con_state_qw_fsf_s::status

Controller status - 0 for idle 1 for active

Definition at line 68 of file cont_types.h.

◆ thrust

double con_state_qw_fsf_s::thrust

Controller thrust (for actuation)

Definition at line 69 of file cont_types.h.

◆ torque

double con_state_qw_fsf_s::torque[3]

Controller torques (for actuation)

Definition at line 70 of file cont_types.h.

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

cont_types.h

Data Fields