# Modules Reference: Controller ## airship_att_control Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control) ### Description This implements the airship attitude and rate controller. Ideally it would take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode via `manual_control_setpoint` topic) as inputs and outputs actuator control messages. Currently it is feeding the `manual_control_setpoint` topic directly to the actuators. ### Implementation To reduce control latency, the module directly polls on the gyro topic published by the IMU driver. ### Usage {#airship_att_control_usage} ``` airship_att_control [arguments...] Commands: start stop status print status info ``` ## control_allocator Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator) ### Description This implements control allocation. It takes torque and thrust setpoints as inputs and outputs actuator setpoint messages. ### Usage {#control_allocator_usage} ``` control_allocator [arguments...] Commands: start stop status print status info ``` ## flight_mode_manager Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager) ### Description This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input and outputs setpoints for controllers. ### Usage {#flight_mode_manager_usage} ``` flight_mode_manager [arguments...] Commands: start stop status print status info ``` ## fw_att_control Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control) ### Description fw_att_control is the fixed wing attitude controller. ### Usage {#fw_att_control_usage} ``` fw_att_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## fw_lat_lon_control Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control) ### Description fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints. ### Usage {#fw_lat_lon_control_usage} ``` fw_lat_lon_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## fw_mode_manager Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager) ### Description This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher. It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing lateral-longitudinal controller and and controllers below that (attitude, rate). ### Usage {#fw_mode_manager_usage} ``` fw_mode_manager [arguments...] Commands: start stop status print status info ``` ## fw_rate_control Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control) ### Description fw_rate_control is the fixed-wing rate controller. ### Usage {#fw_rate_control_usage} ``` fw_rate_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## mc_att_control Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control) ### Description This implements the multicopter attitude controller. It takes attitude setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint. The controller has a P loop for angular error Publication documenting the implemented Quaternion Attitude Control: Nonlinear Quadrocopter Attitude Control (2013) by Dario Brescianini, Markus Hehn and Raffaello D'Andrea Institute for Dynamic Systems and Control (IDSC), ETH Zurich https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf ### Usage {#mc_att_control_usage} ``` mc_att_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## mc_pos_control Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control) ### Description The controller has two loops: a P loop for position error and a PID loop for velocity error. Output of the velocity controller is thrust vector that is split to thrust direction (i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself). The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and logging. ### Usage {#mc_pos_control_usage} ``` mc_pos_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## mc_rate_control Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control) ### Description This implements the multicopter rate controller. It takes rate setpoints (in acro mode via `manual_control_setpoint` topic) as inputs and outputs actuator control messages. The controller has a PID loop for angular rate error. ### Usage {#mc_rate_control_usage} ``` mc_rate_control [arguments...] Commands: start [vtol] VTOL mode stop status print status info ``` ## navigator Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator) ### Description Module that is responsible for autonomous flight modes. This includes missions (read from dataman), takeoff and RTL. It is also responsible for geofence violation checking. ### Implementation The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`. The member `_navigation_mode` contains the current active mode. Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position controller. ### Usage {#navigator_usage} ``` navigator [arguments...] Commands: start fencefile load a geofence file from SD card, stored at etc/geofence.txt fake_traffic publishes 24 fake transponder_report_s uORB messages stop status print status info ``` ## rover_ackermann Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann) ### Description Rover ackermann module. ### Usage {#rover_ackermann_usage} ``` rover_ackermann [arguments...] Commands: start stop status print status info ``` ## rover_differential Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential) ### Description Rover differential module. ### Usage {#rover_differential_usage} ``` rover_differential [arguments...] Commands: start stop status print status info ``` ## rover_mecanum Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum) ### Description Rover mecanum module. ### Usage {#rover_mecanum_usage} ``` rover_mecanum [arguments...] Commands: start stop status print status info ``` ## rover_pos_control Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control) ### Description Controls the position of a ground rover using an L1 controller. Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX. ### Implementation Currently, this implementation supports only a few modes: * Full manual: Throttle and yaw controls are passed directly through to the actuators * Auto mission: The rover runs missions * Loiter: The rover will navigate to within the loiter radius, then stop the motors ### Examples CLI usage example: ``` rover_pos_control start rover_pos_control status rover_pos_control stop ``` ### Usage {#rover_pos_control_usage} ``` rover_pos_control [arguments...] Commands: start stop status print status info ``` ## spacecraft Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft) ### Description This implements control allocation for spacecraft vehicles. It takes torque and thrust setpoints as inputs and outputs actuator setpoint messages. ### Usage {#spacecraft_usage} ``` spacecraft [arguments...] Commands: start stop status print status info ``` ## uuv_att_control Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control) ### Description Controls the attitude of an unmanned underwater vehicle (UUV). Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz. ### Implementation Currently, this implementation supports only a few modes: * Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators * Auto mission: The uuv runs missions ### Examples CLI usage example: ``` uuv_att_control start uuv_att_control status uuv_att_control stop ``` ### Usage {#uuv_att_control_usage} ``` uuv_att_control [arguments...] Commands: start stop status print status info ``` ## uuv_pos_control Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control) ### Description Controls the attitude of an unmanned underwater vehicle (UUV). Publishes `attitude_setpoint` messages. ### Implementation Currently, this implementation supports only a few modes: * Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators * Auto mission: The uuv runs missions ### Examples CLI usage example: ``` uuv_pos_control start uuv_pos_control status uuv_pos_control stop ``` ### Usage {#uuv_pos_control_usage} ``` uuv_pos_control [arguments...] Commands: start stop status print status info ``` ## vtol_att_control Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control) ### Description fw_att_control is the fixed wing attitude controller. ### Usage {#vtol_att_control_usage} ``` vtol_att_control [arguments...] Commands: stop status print status info ```