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npfg: header formatting
This commit is contained in:
Thomas Stastny
JaeyoungLim
parent
e9b0a3eb66
commit
4d11b4e06c
@ -182,7 +182,7 @@ public:
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/*
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* @return Feed-forward lateral acceleration command increment for tracking
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* path curvature [m/s^2]
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* path curvature [m/s^2]
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*/
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float getLateralAccelFF() const { return lateral_accel_ff_; }
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@ -266,28 +266,28 @@ public:
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/*
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* Keep the wings level.
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*
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* @param[in] heading Heading angle [rad]
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*
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* @param[in] heading Heading angle [rad]
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*/
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void navigateLevelFlight(const float heading);
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/*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* Set the maximum roll angle output in radians
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*/
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void setRollLimit(float roll_lim_rad) { roll_lim_rad_ = roll_lim_rad; }
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/*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* Set roll angle slew rate. Set to zero to deactivate.
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*/
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void setRollSlewRate(float roll_slew_rate) { roll_slew_rate_ = roll_slew_rate; }
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/*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* Set control loop dt. The value will be used to apply roll angle setpoint slew rate limiting.
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*/
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void setDt(const float dt) { dt_ = dt; }
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@ -410,7 +410,7 @@ private:
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/*
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* Adapts the controller period considering user defined inputs, current flight
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* condition, path properties, and stability bounds.
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* condition, path properties, and stability bounds.
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*
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* @param[in] ground_speed Vehicle ground speed [m/s]
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* @param[in] airspeed Vehicle airspeed [m/s]
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@ -420,8 +420,8 @@ private:
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* @param[in] wind_vel Wind velocity vector in inertial frame [m/s]
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* @param[in] unit_path_tangent Unit vector tangent to path at closest point
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* in direction of path
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* @param[in] feas_on_track Bearing feasibility on track at the closest point
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* @return Adapted period [s]
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* @param[in] feas_on_track Bearing feasibility on track at the closest point
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* @return Adapted period [s]
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*/
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float adaptPeriod(const float ground_speed, const float airspeed, const float wind_ratio,
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const float track_error, const float path_curvature, const matrix::Vector2f &wind_vel,
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@ -484,35 +484,36 @@ private:
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* track error vector to that of the path tangent vector.
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*
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* @param[in] ground_speed Vehicle ground speed [m/s]
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* ADSFASDFSAFDSF
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* @param[in] time_const Controller time constant [s]
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* @return Track error boundary [m]
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*/
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float trackErrorBound(const float ground_speed, const float time_const) const;
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/*
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* Calculates the required controller proportional gain to achieve the desired
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* system period and damping ratio. NOTE: actual period and damping will vary
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* when following paths with curvature in wind.
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* Calculates the required controller proportional gain to achieve the desired
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* system period and damping ratio. NOTE: actual period and damping will vary
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* when following paths with curvature in wind.
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*
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* @param[in] period Desired system period [s]
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* @param[in] damping Desired system damping ratio
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* @return Proportional gain [rad/s]
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* @param[in] damping Desired system damping ratio
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* @return Proportional gain [rad/s]
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*/
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float pGain(const float period, const float damping) const;
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/*
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* Calculates the required controller time constant to achieve the desired
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* system period and damping ratio. NOTE: actual period and damping will vary
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* when following paths with curvature in wind.
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* system period and damping ratio. NOTE: actual period and damping will vary
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* when following paths with curvature in wind.
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*
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* @param[in] period Desired system period [s]
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* @param[in] damping Desired system damping ratio
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* @return Time constant [s]
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* @param[in] damping Desired system damping ratio
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* @return Time constant [s]
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*/
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float timeConst(const float period, const float damping) const;
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/*
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* Cacluates the look ahead angle as a function of the normalized track error.
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* Cacluates the look ahead angle as a quadratic function of the normalized
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* track error.
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*
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* @param[in] normalized_track_error Normalized track error (track error / track error boundary)
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* @return Look ahead angle [rad]
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@ -523,14 +524,12 @@ private:
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* Calculates the bearing vector and track proximity transitioning variable
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* from the look-ahead angle mapping.
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*
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* @param[out] track_proximity Smoothing parameter based on vehicle proximity
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* to track with values between 0 (at track error boundary) and 1 (on track)
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* @param[in] unit_track_error Unit vector in direction from vehicle to
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* closest point on path
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* @param[in] unit_path_tangent Unit vector tangent to path at closest point
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* in direction of path
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* @param[in] look_ahead_ang The bearing vector lies at this angle from
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* the path normal vector [rad]
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* @param[in] signed_track_error Signed error to track at closest point (sign
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* determined by path normal direction) [m]
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* @return Unit bearing vector
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*/
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matrix::Vector2f bearingVec(const matrix::Vector2f &unit_path_tangent, const float look_ahead_ang,
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@ -541,7 +540,7 @@ private:
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* ground speed maintanence as well as track keeping logic.
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*
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* @param[in] normalized_track_error Normalized track error (track error / track error boundary)
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* @param[in] feas Bearing feasibility
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* @param[in] feas Bearing feasibility
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* @return Minimum forward ground speed demand [m/s]
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*/
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float minGroundSpeed(const float normalized_track_error, const float feas);
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@ -626,7 +625,7 @@ private:
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/*
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* Calculates an additional feed-forward lateral acceleration demand considering
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* the path curvature. The full effect of the acceleration increment is smoothly
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* the path curvature. The full effect of the acceleration increment is smoothly
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* ramped in as the vehicle approaches the track and is further smoothly
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* zeroed out as the bearing becomes infeasible.
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*
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@ -692,8 +691,8 @@ private:
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matrix::Vector2f getLocalPlanarVector(const matrix::Vector2d &origin, const matrix::Vector2d &target) const;
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/**
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* [Copied directly from ECL_L1_Pos_Controller]
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*
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* Update roll angle setpoint. This will also apply slew rate limits if set.
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*/
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void updateRollSetpoint();
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