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502 lines
9.9 KiB
Markdown
502 lines
9.9 KiB
Markdown
# 模块参考：控制器
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## fw_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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### 描述
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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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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### 实现
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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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<a id="airship_att_control_usage"></a>
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### 用法
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```
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airship_att_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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## control_allocator
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### 描述
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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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<a id="control_allocator_usage"></a>
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### 用法
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```
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control_allocator <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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## fw_pos_control_l1
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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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### 描述
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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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<a id="flight_mode_manager_usage"></a>
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### 用法
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```
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flight_mode_manager <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_att_control
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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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### 描述
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fw_att_control is the fixed wing attitude controller.
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<a id="fw_att_control_usage"></a>
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### 用法
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```
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fw_att_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## fw_pos_control
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Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_pos_control)
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### 描述
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fw_pos_control is the fixed-wing position controller.
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<a id="fw_pos_control_usage"></a>
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### 用法
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```
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fw_pos_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## fw_rate_control
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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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### 描述
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fw_rate_control is the fixed-wing rate controller.
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<a id="fw_rate_control_usage"></a>
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### 用法
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```
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fw_rate_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## mc_att_control
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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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### 描述
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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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The controller has a P loop for angular error
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The different internal modes are implemented as separate classes that inherit from a common base class <code>NavigatorMode</code>. The member <code>_navigation_mode</code> contains the current active mode.
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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<a id="mc_att_control_usage"></a>
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### 用法
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```
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mc_att_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## navigator
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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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### 描述
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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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The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and
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logging.
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<a id="mc_pos_control_usage"></a>
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### 用法
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```
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mc_pos_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## mc_rate_control
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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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### 描述
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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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<a id="mc_rate_control_usage"></a>
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### 用法
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```
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mc_rate_control <command> [arguments...]
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Commands:
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start
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[vtol] VTOL mode
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stop
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status print status info
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```
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## navigator
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### 描述
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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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### 实现
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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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<a id="navigator_usage"></a>
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### 用法
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```
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navigator <command> [arguments...]
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Commands:
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start
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fencefile load a geofence file from SD card, stored at etc/geofence.txt
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fake_traffic publishes 24 fake transponder_report_s uORB messages
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stop
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status print status info
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```
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## rover_ackermann
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### 描述
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Rover ackermann module.
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<a id="rover_ackermann_usage"></a>
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### 用法
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```
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rover_ackermann <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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## rover_differential
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### 描述
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Rover differential module.
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<a id="rover_differential_usage"></a>
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### 用法
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```
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rover_differential <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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## rover_mecanum
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### 描述
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Rover mecanum module.
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<a id="rover_mecanum_usage"></a>
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### 用法
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```
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rover_mecanum <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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## 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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### 描述
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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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### 实现
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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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### 示例
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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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<a id="rover_pos_control_usage"></a>
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### 用法
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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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```
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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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```
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<a id="spacecraft_usage"></a>
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### 用法
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```
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spacecraft <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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## uuv_att_control
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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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### 描述
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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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### 实现
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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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### 示例
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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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<a id="uuv_att_control_usage"></a>
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### 用法
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```
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uuv_att_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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## uuv_pos_control
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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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### 描述
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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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### 实现
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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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### 示例
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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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uuv_pos_control stop
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```
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<a id="uuv_pos_control_usage"></a>
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### 用法
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```
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uuv_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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## vtol_att_control
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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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### 描述
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fw_att_control is the fixed wing attitude controller.
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<a id="vtol_att_control_usage"></a>
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### 用法
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```
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vtol_att_control <command> [arguments...]
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Commands:
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stop
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status print status info
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```
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