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Remove pregenerated files - that should all be tidied up next time this runs
This commit is contained in:
Hamish Willee
committed by
Ramon Roche
Ramon Roche
parent
3c80be8e48
commit
2ec9937369
@@ -1,13 +1,11 @@
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# Modules Reference: Controller
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## airship_att_control
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Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
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### Description
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This implements the airship attitude and rate controller. Ideally it would
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take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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@@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### Implementation
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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### Usage {#airship_att_control_usage}
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@@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### Description
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This implements control allocation. It takes torque and thrust setpoints
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as inputs and outputs actuator setpoint messages.
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@@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
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Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
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### Description
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This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
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and outputs setpoints for controllers.
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### Usage {#flight_mode_manager_usage}
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```
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@@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
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Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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fw_att_control is the fixed wing attitude controller.
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### Usage {#fw_att_control_usage}
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@@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
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Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
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### Description
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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### Usage {#fw_lat_lon_control_usage}
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@@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
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Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
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### Description
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This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
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It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
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lateral-longitudinal controller and and controllers below that (attitude, rate).
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### Usage {#fw_mode_manager_usage}
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```
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@@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
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Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
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### Description
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fw_rate_control is the fixed-wing rate controller.
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fw_rate_control is the fixed-wing rate controller.
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### Usage {#fw_rate_control_usage}
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@@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
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Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
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### Description
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This implements the multicopter attitude controller. It takes attitude
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setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
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@@ -180,7 +173,6 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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### Usage {#mc_att_control_usage}
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```
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@@ -194,12 +186,36 @@ mc_att_control <command> [arguments...]
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status print status info
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```
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## mc_nn_control
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Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
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### Description
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Multicopter Neural Network Control module.
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This module is an end-to-end neural network control system for multicopters.
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It takes in 15 input values and outputs 4 control actions.
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Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
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Outputs: [Actuator motors(4)]
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### Usage {#mc_nn_control_usage}
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```
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mc_nn_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## mc_pos_control
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Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
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### Description
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The controller has two loops: a P loop for position error and a PID loop for velocity error.
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Output of the velocity controller is thrust vector that is split to thrust direction
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(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
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@@ -224,14 +240,13 @@ mc_pos_control <command> [arguments...]
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Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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### Usage {#mc_rate_control_usage}
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```
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@@ -249,20 +264,20 @@ mc_rate_control <command> [arguments...]
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### Description
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Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
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takeoff and RTL.
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It is also responsible for geofence violation checking.
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### Implementation
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The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
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The member `_navigation_mode` contains the current active mode.
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Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
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controller.
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### Usage {#navigator_usage}
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```
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@@ -283,8 +298,8 @@ navigator <command> [arguments...]
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### Description
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Rover ackermann module.
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### Usage {#rover_ackermann_usage}
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@@ -303,8 +318,8 @@ rover_ackermann <command> [arguments...]
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### Description
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Rover differential module.
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### Usage {#rover_differential_usage}
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@@ -323,8 +338,8 @@ rover_differential <command> [arguments...]
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### Description
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Rover mecanum module.
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### Usage {#rover_mecanum_usage}
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@@ -339,53 +354,14 @@ rover_mecanum <command> [arguments...]
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status print status info
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```
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## rover_pos_control
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Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
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### Description
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Controls the position of a ground rover using an L1 controller.
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Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Throttle and yaw controls are passed directly through to the actuators
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* Auto mission: The rover runs missions
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* Loiter: The rover will navigate to within the loiter radius, then stop the motors
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### Examples
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CLI usage example:
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```
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rover_pos_control start
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rover_pos_control status
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rover_pos_control stop
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```
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### Usage {#rover_pos_control_usage}
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```
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rover_pos_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## spacecraft
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Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Usage {#spacecraft_usage}
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@@ -394,6 +370,8 @@ spacecraft <command> [arguments...]
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Commands:
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start
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status
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stop
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status print status info
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@@ -403,27 +381,29 @@ spacecraft <command> [arguments...]
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Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_att_control start
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uuv_att_control status
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uuv_att_control stop
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```
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### Usage {#uuv_att_control_usage}
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```
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@@ -440,16 +420,22 @@ uuv_att_control <command> [arguments...]
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Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `attitude_setpoint` messages.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_pos_control start
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uuv_pos_control status
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@@ -472,8 +458,8 @@ uuv_pos_control <command> [arguments...]
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Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#vtol_att_control_usage}
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