Rotorcraft attitude motion controller
=====================================


**Motion controller using force and torque to achieve desired attitude.**


This actuator reads roll,pitch, yaw rate (or yaw, depending the
control mode) and thrust commands as e.g.  used to manually control
a quadrotor via RC or by higher level control loops. This controller
is meant to be used by quadrotors and similar flying robots with
Rigid Body physics in blender. It is a simple PD-controller which
applies torques to the robot to change and control the attitude. In
YawRateControl, the yaw-rate input is integrated to yield an
absolute yaw setpoint for the controller, otherwise yaw is
considered directly as the order. Thrust is directly applied as
force in z-direction of the robot.

.. note:: Angle are given in aerospace North East Down convention (NED)


.. cssclass:: properties morse-section

Configuration parameters for Rotorcraft attitude motion controller
------------------------------------------------------------------


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``RollPitchPgain`` (float, default: ``100.0``)
	proportional gain for roll/pitch control
- ``RollPitchDgain`` (float, default: ``20.0``)
	derivative gain for roll/pitch control
- ``YawPgain`` (floatproportional gain for yaw control, default: ``16.0``)
	(no documentation available yet)
- ``YawDgain`` (float, default: ``4.0``)
	derivative gain for yaw control
- ``ThrustFactor`` (float, default: ``40.0``)
	multiplication factor for applied thrust force in N
- ``LinearThrust`` (bool, default: ``True``)
	If set to true, the force thrust is linear w.r.t. the collective thrust input (Force = ThrustFactor*thrust). If set to false, the force thrust is quadratic w.r.t. the collective thrust input (Force = ThrustFactor*thrust^2)
- ``YawRateControl`` (bool, default: ``True``)
	If set to true, the robot is controlled in YawRate, otherwise yaw is considered directly as the order
- ``UseAngleAgainstNorth`` (bool, default: ``False``)
	If set to true, return the absolute yaw against North. The whole geodetic coordinates (longitude, latitude, altitude, angle_against_north) must be configured. Otherwise, return the yaw against the Blender coordinates


.. cssclass:: fields morse-section

Data fields
-----------


This actuator reads these datafields at each simulation step:

- ``roll`` (float, initial value: ``0.0``)
	roll angle in radians
- ``pitch`` (float, initial value: ``0.0``)
	pitch angle in radians
- ``yaw`` (float, initial value: ``0.0``)
	If YawRateControl yaw rate in radians/sec, otherwise yaw angle in radian
- ``thrust`` (float, initial value: ``0.0``)
	collective thrust: 0 .. 1 (= 0 .. 100%)

*Interface support:*

- :tag:`ros`  as `std_msgs/Float32MultiArray <http://ros.org/doc/api/std_msgs/html/msg/Float32MultiArray.html>`_ (:py:mod:`morse.middleware.ros.rotorcraft_attitude.RotorcraftAttitudeReader`)
- :tag:`socket`  as straight JSON deserialization (:py:mod:`morse.middleware.socket_datastream.SocketReader`)
- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpReader`)
- :tag:`mavlink`  as `SET_ATTITUDE_TARGET <https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET>`_ (:py:mod:`morse.middleware.mavlink.read_attitude_target.AttitudeTarget`)


.. cssclass:: services morse-section

Services for Rotorcraft attitude motion controller
--------------------------------------------------

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``set_property(prop_name, prop_val)`` (blocking)
    Modify one property on a component
    
    
  - Parameters

    - ``prop_name``: the name of the property to modify (as shown the documentation)
    - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful

  - Return value

    nothing 

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    from morse.builder import *
    
    # adds a default robot (the MORSE mascott!)
    robot = Morsy()
    
    # creates a new instance of the actuator
    rotorcraftattitude = RotorcraftAttitude()

    # place your component at the correct location
    rotorcraftattitude.translate(<x>, <y>, <z>)
    rotorcraftattitude.rotate(<rx>, <ry>, <rz>)
    
    robot.append(rotorcraftattitude)
    
    # define one or several communication interface, like 'socket'
    rotorcraftattitude.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/actuators/rotorcraft_attitude.html>`_
- `Unit-test <../../_modules/base/rotorcraft_attitude_testing.html>`_




*(This page has been auto-generated from MORSE module morse.actuators.rotorcraft_attitude.)*