Rotorcraft Velocity motion controller¶
Motion controller using force and torque to move a rotorcraft with a specified velocity.
This controller will receive a velocity and yaw rate command and make the robot move by changing attitude. This controller is meant for rotorcrafts like quadrotors.
Configuration parameters for Rotorcraft Velocity motion controller¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
HorizontalPgain
(float, default:0.2
)- proportional gain for the outer horizontal velocity [xy] loop
HorizontalDgain
(float, default:0.8
)- derivative gain for the outer horizontal velocity[xy] loop
VerticalPgain
(float, default:8
)- proportional gain for the vertical velocity loop
VerticalDgain
(float, default:2
)- derivative gain for the vertical velocity loop
YawPgain
(float, default:12.0
)- proportional gain for yaw control of the inner loop
YawDgain
(float, default:8.0
)- derivative gain for yaw control of the inner loop
RollPitchPgain
(float, default:9.7
)- proportional gain for roll/pitch control of the inner loop
RollPitchDgain
(float, default:2
)- derivative gain for roll/pitch control of the inner loop
MaxBankAngle
(float, default:0.5235987755982988
)- limit the maximum roll/pitch angle of the robot. This effectively limits the horizontal acceleration of the robot
MaxVelocity
(float, default:2
)- limit the maximum velocity of the robot.
Data fields¶
This actuator reads these datafields at each simulation step:
vx
(float, initial value:0.0
)- desired x velocity in m/s
vy
(float, initial value:0.0
)- desired y velocity in m/s
vz
(float, initial value:0.0
)- desired z velocity in m/s
vyaw
(float, initial value:0.0
)- desired yaw rate radians/s
tolerance
(float, initial value:0.2
)- velocity tolerance in m/s
Interface support:
ros
as geometry_msgs/Twist (morse.middleware.ros.read_twist.TwistReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)
Services for Rotorcraft Velocity motion controller¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
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
setvel(vx, vy, vz, vyaw, tolerance)
(blocking)Set a new desired velocity and return.
The robot will try to go achieve the desired velocity, but the service caller has no mean to know when the desired velocity is reached or if it failed.
Parameters
vx
: x coordinate of the velocity (meter/sec)vy
: y coordinate of the velocity (meter/sec)vz
: z coordinate of the velocity (meter/sec)vyaw
: yaw rate (radian/sec)tolerance
: speed difference considered to decide whether the desired velocity has been reached (meter/sec)
Return value
True, except if the desired velocity is already reached. In this case, returns False.
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the actuator
rotorcraftvelocity = RotorcraftVelocity()
# place your component at the correct location
rotorcraftvelocity.translate(<x>, <y>, <z>)
rotorcraftvelocity.rotate(<rx>, <ry>, <rz>)
robot.append(rotorcraftvelocity)
# define one or several communication interface, like 'socket'
rotorcraftvelocity.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.rotorcraft_velocity.)