HorizontalControl Class Reference

This is the primary "control" for the vehicle's heading. More...

#include <HorizontalControl.h>

Inheritance diagram for HorizontalControl:

Collaboration diagram for HorizontalControl:

Public Member Functions
	HorizontalControl (const Module *module)
virtual	~HorizontalControl ()
void	initialize (void)
	Initialize function. More...
void	run ()
	The actual "payload" of the component. More...
void	uninitialize (void)
	Uninit function. More...
Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...
void	setRepeating (bool repeating)
int	getDivisor () const
int	getModulo () const
bool	isRepeater ()
bool	isRepeating ()
Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...
void	registerReader (DataReader *reader)
void	unregisterReader (DataReader *reader)
void	registerWriter (DataWriter *writer)
void	unregisterWriter (DataWriter *writer)
void	disableMetering (void)
FlexArray< DataReader * > &	getReaderList (void)
FlexArray< DataWriter * > &	getWriterList (void)
const Module *	getModule ()
virtual void	configure ()
	Read (or re-read!) configuration settings. More...
virtual void	execute (void)
bool	isActive () const
	Indicates if the component is active. More...
const CodedStr &	getName (void) const
	Returns the name. More...
const Timestamp &	getTimeOfLastRun (void) const
ComponentState	getState (void)
	Return the component's current state. More...
void	setState (ComponentState state)
RunState	getRunState (void)
	Return the component's run state. More...
bool	isUsingRunState ()
	Return true if using runState. More...
void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...
void	requestStart ()
	Tell the component to start runnning. More...
void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...
void	requestResume ()
	Tell the component resume from pause. More...
void	requestStop ()
	Tell the component to stop runnning. More...
virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...
virtual RunState	starting ()
	Might follow a STOP...START sequence Subseqent. More...
virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...
virtual RunState	satisfied ()
	Possible return value of a Behavior. More...
virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...
virtual RunState	pausing ()
	Might follow a PAUSE request. More...
virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...
virtual RunState	resume ()
	Resume from PAUSE. More...
virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...
virtual RunState	resetting ()
	Might occur in case of Error. More...
virtual RunState	stop ()
	Initial state – can be later followed by START. More...
virtual RunState	stopping ()
	Might follow a STOP request. More...
virtual RunState	stopped ()
	Should eventually follow a STOP request. More...
void	setCriticalFailureReported (bool boolVal)
void	setRecoveringFromCritical (bool boolVal)
void	setFailureReported (bool boolVal)
bool	isFailureUninitialized ()
void	setFailureUninitialized (bool boolVal)
void	setRetryTimeout (const Timespan &timeout)
virtual bool	isCompleted (void)
	Query if this component is completed. More...
void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...
const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...
ComponentType	getComponentType ()
	Getter function for ComponentType. More...
virtual bool	isFailed (void) const
virtual FailureMode::FailType	getFailureType (void) const
virtual bool	getCriticalFailureReported (void) const
virtual bool	getFailureReported (void) const
virtual Timespan	getRetryTimeout (void) const
virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)
virtual int	getFailCount (void) const
virtual bool	isFailureMissionCritical ()
virtual int	getAllowableFailures (void) const
virtual void	setAllowableFailures (int fails)
Logger &	getLogger (void)
virtual int	incrementFailCount (void)
virtual void	resetFailCount (void)
virtual int	getSkippedRunsSinceFail (void) const
virtual int	incrementSkippedRunsSinceFail (void)
virtual void	logVoltage (float voltage, float averageVoltage)
virtual void	logCurrent (float current, float averageCurrent)
const Timestamp &	getWriteTimestamp (void)
void	setWriteTimestamp (const Timestamp &writeTimestamp)
BlobReader *	newBlobReader (const BlobURI &blobURI)
BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)
BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
ConfigReader *	newConfigReader (const ConfigURI &configURI)
DataReader *	newDataReader (const DataURI &dataURI)
DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)
DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)
UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)
UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Protected Attributes
float	headingIntegral_
float	xteIntegral_
Protected Attributes inherited from Component
Logger	logger_
Syslog::Severity	debugLevel_
ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...
Timespan	desiredPeriod_
CodedStr &	name_
	Store the component's name (used for logging purposes) More...
Timestamp	timeOfRun_
Timestamp	timeOfLastRun_
Timespan	durationOfLastRun_
Timespan	dt_
Timespan	retryTimeout_
bool	enabled_
bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...
bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...
bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...
bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...
int	failCount_
	Number of failures logged by PCaller. More...
bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...
int	allowableFailures_
	Number of failures allowed to occur. More...
int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...
FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...
Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...
Timestamp	writeTimestamp_
	Time of last write. More...
FlexArray< DataReader * >	readers_
FlexArray< DataWriter * >	writers_
const Module *	module_
Timespan	pauseTime_
bool	meteringEnabled_
	If true, metering is enabled. More...
DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...
DataWriter *	voltageWriter_
DataWriter *	avgVoltageWriter_
DataWriter *	currentWriter_
DataWriter *	avgCurrentWriter_
bool	persistentPause_
	True if data is persistent while component is paused. More...

Private Member Functions
	HorizontalControl (const HorizontalControl &old)
bool	readConfig (void)
	read vehicle config variables More...
void	controlHeading ()
	control heading More...
void	setHeading (float desiredHeading, bool useInt=true)
	attempts to achieve the desired heading More...
void	setHeadingRate (float desiredheadingRate)
	attempts to achieve the desired heading rate More...
void	setRudderAngle (float desiredRudderAngle)
	attempts to achieve the desired rudder angle More...
float	headingControl (float heading, float headingCmd, float yawRate, bool useInt=true)
	returns rudder angle More...

Private Attributes
Trajectory	headingTrajectory_
bool	ok_
	indicates whether things are ok to run More...
float	kdHeading_
	*----------------— vehicle parameters -----------------------—*/ More...
float	kiHeading_
float	kpHeading_
float	kwpHeading_
float	kiwpHeading_
float	maxKxte_
float	maxHeadingInt_
float	rudderLimit_
float	headingRate_
float	maxHeadingRateCfg_
float	maxHdgAccel_
float	xte_
float	rudDeadband_
DataReader *	horizontalModeReader_
	Desired heading mode (none, waypoint, specified). More...
DataReader *	latitudeCmdReader_
	Desired waypoint latitude to head towards. More...
DataReader *	longitudeCmdReader_
	Desired waypoint longitude to head towards. More...
DataReader *	bearingCmdReader_
	Bearing to the Desired waypoint. More...
DataReader *	headingCmdReader_
	Desired heading (radian) of the vehicle. More...
DataReader *	headingRateCmdReader_
	Desired yaw / heading change rate (radian/second). More...
DataReader *	rudderAngleCmdReader_
	Desired rudder angle (radian). More...
ConfigReader *	kdHeadingCfgReader_
ConfigReader *	kiHeadingCfgReader_
ConfigReader *	kpHeadingCfgReader_
ConfigReader *	kwpHeadingCfgReader_
ConfigReader *	kiwpHeadingCfgReader_
ConfigReader *	maxHdgAccelCfgReader_
ConfigReader *	maxHdgIntCfgReader_
ConfigReader *	maxHdgRateCfgReader_
ConfigReader *	maxKxteCfgReader_
ConfigReader *	rudDeadbandCfgReader_
ConfigReader *	rudLimitCfgReader_
UniversalDataReader *	headingReader_
	Current heading (radian) of the vehicle. More...
DataWriter *	headingInternalWriter_
	Commanded heading angle in radians. More...
DataWriter *	smoothHeadingInternalWriter_
	Smoothed commanded heading angle in radians. More...
DataWriter *	headingIntegralInternalWriter_
	Heading integral in radians. More...
DataWriter *	xteIntegralInternalWriter_
DataWriter *	xteInternalWriter_
	Cross-track error, meter. More...
DataWriter *	kxteInternalWriter_
	Cross-track error correction, radian. More...
DataWriter *	bearingInternalWriter_
	Commanded bearing, radians. In UTM coordinates, this should be a constant. More...
UniversalDataReader *	headingRateReader_
	Current yaw / heading change rate (radian/second). More...
UniversalDataReader *	latitudeReader_
	Current latitude. More...
UniversalDataReader *	longitudeReader_
	Current latitude. More...
UniversalDataReader *	rudderAngleReader_
DataWriter *	rudderAngleActionWriter_
	Angle (in radian) of Elevator. More...
DataReader *	rudderAngleActionReader_
	Used to read last action, even if from another source. More...

Additional Inherited Members
Public Types inherited from Component
enum	ComponentState {   BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED,   BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...
enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...
enum	RunState {   NO_RUN_STATE = 0, START, STARTING, RUNNABLE,   SATISFIED, PAUSE, PAUSING, PAUSED,   RESUME, RESUMING, RESETTING, STOP,   STOPPING, STOPPED }
Static Public Attributes inherited from SyncComponent
static const int	CYCLE_INCREMENT
static const int	CYCLE_REPEAT_OFFSET
static const CycleOrder	CYCLE_STARTER
static const CycleOrder	CYCLE_SIMULATOR
static const CycleOrder	CYCLE_SENSOR
static const CycleOrder	CYCLE_DERIVATION
static const CycleOrder	CYCLE_ESTIMATION
static const CycleOrder	CYCLE_NAVIGATION
static const CycleOrder	CYCLE_MISSION_MANAGER
static const CycleOrder	CYCLE_MISSION
static const CycleOrder	CYCLE_CONTROL
static const CycleOrder	CYCLE_SERVO
static const CycleOrder	CYCLE_TEST
static const CycleOrder	CYCLE_REPORTER
static const CycleOrder	CYCLE_LOGGER
Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }
Protected Member Functions inherited from SyncControlComponent
	SyncControlComponent (const Str &name, const Module *module, int divisor=1, int modulo=0)
Protected Member Functions inherited from SyncComponent
void	setRepeater (bool repeater)
Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...
virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...
virtual void	setDurationOfLastRun (const Timespan &span)
virtual void	setTimeOfRun (const Timestamp &time)
virtual void	setTimeOfLastRun (const Timestamp &time)
virtual void	setDt (const Timespan &dt)
virtual bool	setEnabled (bool enabled=true)
void	setRunState (const RunState runState)
const Timespan	getPauseTime () const
virtual void	setFailureMissionCritical (bool failureMissionCritical)
bool	simulateHardware ()

Detailed Description

This is the primary "control" for the vehicle's heading.

It accepts a number of inputs that specify the desired heading or waypoint for the vehicle, and combined with heading and rudder sensor inputs, converts the settings to commands that are ultimately relayed to devices via RudderServo.

HorizontalControl.h should only be included by HorizontalControl.cpp Other classes should include HorizontalControlIF.h

Constructor & Destructor Documentation

HorizontalControl::HorizontalControl

(

const Module *

module

)

References bearingCmdReader_, bearingInternalWriter_, headingCmdReader_, headingIntegralInternalWriter_, headingInternalWriter_, headingRateCmdReader_, headingRateReader_, headingReader_, horizontalModeReader_, kdHeadingCfgReader_, kiHeadingCfgReader_, kiwpHeadingCfgReader_, kpHeadingCfgReader_, kwpHeadingCfgReader_, kxteInternalWriter_, UniversalURI::LATITUDE, latitudeCmdReader_, latitudeReader_, Component::logger_, UniversalURI::LONGITUDE, longitudeCmdReader_, longitudeReader_, maxHdgAccelCfgReader_, maxHdgIntCfgReader_, maxHdgRateCfgReader_, maxKxteCfgReader_, Component::newConfigReader(), Component::newDataReader(), Component::newDataWriter(), Component::newUniversalReader(), UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_RUDDER_ANGLE, UniversalURI::PLATFORM_YAW_RATE, rudDeadbandCfgReader_, rudderAngleActionReader_, rudderAngleActionWriter_, rudderAngleCmdReader_, rudderAngleReader_, rudLimitCfgReader_, smoothHeadingInternalWriter_, Logger::syslog(), xteIntegralInternalWriter_, and xteInternalWriter_.

HorizontalControl::~HorizontalControl ( )

virtual

HorizontalControl::HorizontalControl ( const HorizontalControl &  old )

private

Member Function Documentation

void HorizontalControl::controlHeading ( )

private

control heading

References Timespan::asDouble(), bearingCmdReader_, bearingInternalWriter_, dt, Component::dt_, Location::EARTH_RADIUS, Units::ENUM, Syslog::ERROR, HorizontalControlIF::HEADING, HorizontalControlIF::HEADING_RATE, headingCmdReader_, headingRate_, headingRateCmdReader_, horizontalModeReader_, DataReader::isActive(), kiwpHeading_, kwpHeading_, kxteInternalWriter_, latitudeCmdReader_, latitudeReader_, AuvMath::Limit(), Component::logger_, longitudeCmdReader_, longitudeReader_, maxHeadingRateCfg_, maxKxte_, Units::METER, AuvMath::ModPi(), AuvMath::NanZero(), HorizontalControlIF::NONE, Units::RADIAN, Units::RADIAN_PER_SECOND, DataReader::read(), HorizontalControlIF::RUDDER_ANGLE, rudderAngleCmdReader_, setHeading(), setHeadingRate(), setRudderAngle(), Logger::syslog(), DataReader::wasTouchedSinceLastRun(), HorizontalControlIF::WAYPOINT, DataWriter::write(), xte_, xteIntegral_, xteIntegralInternalWriter_, and xteInternalWriter_.

Referenced by run().

float HorizontalControl::headingControl ( float  heading, float  headingCmd, float  yawRate, bool  useInt = true  )

private

returns rudder angle

References Timespan::asDouble(), dt, Component::dt_, Trajectory::getXDot(), headingIntegral_, headingIntegralInternalWriter_, headingRate_, headingTrajectory_, kdHeading_, kiHeading_, kpHeading_, AuvMath::Limit(), maxHdgAccel_, maxHeadingInt_, AuvMath::ModPi(), AuvMath::NanZero(), Trajectory::project(), Units::RADIAN, DataReader::read(), rudderAngleReader_, rudderLimit_, AuvMath::Sign(), smoothHeadingInternalWriter_, and DataWriter::write().

Referenced by setHeading().

void HorizontalControl::initialize ( void  )

virtual

Initialize function.

Reimplemented from Component.

References Syslog::CRITICAL, latitudeCmdReader_, latitudeReader_, Component::logger_, longitudeCmdReader_, longitudeReader_, ok_, Units::RADIAN, DataReader::read(), readConfig(), and Logger::syslog().

Referenced by run().

bool HorizontalControl::readConfig ( void  )

private

read vehicle config variables

Load HorizontalControl parameters.

References kdHeading_, kdHeadingCfgReader_, kiHeading_, kiHeadingCfgReader_, kiwpHeading_, kiwpHeadingCfgReader_, kpHeading_, kpHeadingCfgReader_, kwpHeading_, kwpHeadingCfgReader_, maxHdgAccel_, maxHdgAccelCfgReader_, maxHdgIntCfgReader_, maxHdgRateCfgReader_, maxHeadingInt_, maxHeadingRateCfg_, maxKxte_, maxKxteCfgReader_, Units::NONE, Units::RADIAN, Units::RADIAN_PER_METER, Units::RADIAN_PER_SECOND, Units::RADIAN_PER_SECOND_PER_METER, Units::RADIAN_PER_SECOND_SQUARED, DataReader::read(), Units::RECIPROCAL_SECOND, rudDeadband_, rudDeadbandCfgReader_, rudderLimit_, rudLimitCfgReader_, and Units::SECOND.

Referenced by initialize(), and run().

void HorizontalControl::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References controlHeading(), Syslog::ERROR, horizontalModeReader_, initialize(), DataReader::isActive(), Component::logger_, ok_, readConfig(), setRudderAngle(), and Logger::syslog().

void HorizontalControl::setHeading ( float  desiredHeading, bool  useInt = true  )

private

attempts to achieve the desired heading

References headingControl(), headingInternalWriter_, headingRateReader_, headingReader_, Units::RADIAN, Units::RADIAN_PER_SECOND, DataReader::read(), rudDeadband_, rudderAngleActionReader_, rudderAngleActionWriter_, rudderLimit_, AuvMath::Sign(), and DataWriter::write().

Referenced by controlHeading(), and setHeadingRate().

void HorizontalControl::setHeadingRate ( float  desiredheadingRate )

private

attempts to achieve the desired heading rate

References Timespan::asDouble(), dt, Component::dt_, headingReader_, AuvMath::NanZero(), Units::RADIAN, DataReader::read(), and setHeading().

Referenced by controlHeading().

void HorizontalControl::setRudderAngle ( float  desiredRudderAngle )

private

attempts to achieve the desired rudder angle

References Units::RADIAN, rudderAngleActionWriter_, and DataWriter::write().

Referenced by controlHeading(), and run().

void HorizontalControl::uninitialize ( void  )

virtual

Uninit function.

Reimplemented from Component.

References Component::logger_, and Logger::syslog().

Member Data Documentation

DataReader* HorizontalControl::bearingCmdReader_

private

Bearing to the Desired waypoint.

Only applies if horizontalModeReader_'s value is WAYPOINT Default is current location (no change).

Referenced by controlHeading(), and HorizontalControl().

DataWriter* HorizontalControl::bearingInternalWriter_

private

Commanded bearing, radians. In UTM coordinates, this should be a constant.

Referenced by controlHeading(), and HorizontalControl().

DataReader* HorizontalControl::headingCmdReader_

private

Desired heading (radian) of the vehicle.

Zero corresponds to true North, and PI/2 true East. (-PI <= Range < PI). Only applies if HorizontalMode value is HEADING Default is zero.

Referenced by controlHeading(), and HorizontalControl().

float HorizontalControl::headingIntegral_

protected

Referenced by headingControl().

DataWriter* HorizontalControl::headingIntegralInternalWriter_

private

Heading integral in radians.

Referenced by headingControl(), and HorizontalControl().

DataWriter* HorizontalControl::headingInternalWriter_

private

Commanded heading angle in radians.

Referenced by HorizontalControl(), and setHeading().

float HorizontalControl::headingRate_

private

Referenced by controlHeading(), and headingControl().

DataReader* HorizontalControl::headingRateCmdReader_

private

Desired yaw / heading change rate (radian/second).

Positive values correspond to positive changes in heading Applies to both waypoint and specified heading modes Default is 0.2 (to allow a ~15 second about-face)

Referenced by controlHeading(), and HorizontalControl().

UniversalDataReader* HorizontalControl::headingRateReader_

private

Current yaw / heading change rate (radian/second).

Positive values correspond to positive changes in heading

Referenced by HorizontalControl(), and setHeading().

UniversalDataReader* HorizontalControl::headingReader_

private

Current heading (radian) of the vehicle.

Zero corresponds to true North, and PI/2 true East. (-PI <= Range < PI).

Referenced by HorizontalControl(), setHeading(), and setHeadingRate().

Trajectory HorizontalControl::headingTrajectory_

private

Referenced by headingControl().

DataReader* HorizontalControl::horizontalModeReader_

private

Desired heading mode (none, waypoint, specified).

Default is NONE.

Referenced by controlHeading(), HorizontalControl(), and run().

float HorizontalControl::kdHeading_

private

*----------------— vehicle parameters -----------------------—*/

Referenced by headingControl(), and readConfig().

ConfigReader* HorizontalControl::kdHeadingCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

float HorizontalControl::kiHeading_

private

Referenced by headingControl(), and readConfig().

ConfigReader* HorizontalControl::kiHeadingCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

float HorizontalControl::kiwpHeading_

private

Referenced by controlHeading(), and readConfig().

ConfigReader* HorizontalControl::kiwpHeadingCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

float HorizontalControl::kpHeading_

private

Referenced by headingControl(), and readConfig().

ConfigReader* HorizontalControl::kpHeadingCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

float HorizontalControl::kwpHeading_

private

Referenced by controlHeading(), and readConfig().

ConfigReader* HorizontalControl::kwpHeadingCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

DataWriter* HorizontalControl::kxteInternalWriter_

private

Cross-track error correction, radian.

Referenced by controlHeading(), and HorizontalControl().

DataReader* HorizontalControl::latitudeCmdReader_

private

Desired waypoint latitude to head towards.

Only applies if horizontalModeReader_'s value is WAYPOINT Default is current location (no change).

Referenced by controlHeading(), HorizontalControl(), and initialize().

UniversalDataReader* HorizontalControl::latitudeReader_

private

Current latitude.

Referenced by controlHeading(), HorizontalControl(), and initialize().

DataReader* HorizontalControl::longitudeCmdReader_

private

Desired waypoint longitude to head towards.

Only applies if horizontalModeReader_'s value is WAYPOINT Default is current location (no change).

Referenced by controlHeading(), HorizontalControl(), and initialize().

UniversalDataReader* HorizontalControl::longitudeReader_

private

Current latitude.

Referenced by controlHeading(), HorizontalControl(), and initialize().

float HorizontalControl::maxHdgAccel_

private

Referenced by headingControl(), and readConfig().

ConfigReader* HorizontalControl::maxHdgAccelCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

ConfigReader* HorizontalControl::maxHdgIntCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

ConfigReader* HorizontalControl::maxHdgRateCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

float HorizontalControl::maxHeadingInt_

private

Referenced by headingControl(), and readConfig().

float HorizontalControl::maxHeadingRateCfg_

private

Referenced by controlHeading(), and readConfig().

float HorizontalControl::maxKxte_

private

Referenced by controlHeading(), and readConfig().

ConfigReader* HorizontalControl::maxKxteCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

bool HorizontalControl::ok_

private

indicates whether things are ok to run

Referenced by initialize(), and run().

float HorizontalControl::rudDeadband_

private

Referenced by readConfig(), and setHeading().

ConfigReader* HorizontalControl::rudDeadbandCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

DataReader* HorizontalControl::rudderAngleActionReader_

private

Used to read last action, even if from another source.

Referenced by HorizontalControl(), and setHeading().

DataWriter* HorizontalControl::rudderAngleActionWriter_

private

Angle (in radian) of Elevator.

Zero corresponds to aligned with major axis of vehicle. Nominal range is -PI/4 to PI/4.

Referenced by HorizontalControl(), setHeading(), and setRudderAngle().

DataReader* HorizontalControl::rudderAngleCmdReader_

private

Desired rudder angle (radian).

Positive values correspond to negative changes in heading Applies only to rudder angle heading mode

Referenced by controlHeading(), and HorizontalControl().

UniversalDataReader* HorizontalControl::rudderAngleReader_

private

Referenced by headingControl(), and HorizontalControl().

float HorizontalControl::rudderLimit_

private

Referenced by headingControl(), readConfig(), and setHeading().

ConfigReader* HorizontalControl::rudLimitCfgReader_

private

Referenced by HorizontalControl(), and readConfig().

DataWriter* HorizontalControl::smoothHeadingInternalWriter_

private

Smoothed commanded heading angle in radians.

Referenced by headingControl(), and HorizontalControl().

float HorizontalControl::xte_

private

Referenced by controlHeading().

float HorizontalControl::xteIntegral_

protected

Referenced by controlHeading().

DataWriter* HorizontalControl::xteIntegralInternalWriter_

private

Referenced by controlHeading(), and HorizontalControl().

DataWriter* HorizontalControl::xteInternalWriter_

private

Cross-track error, meter.

Referenced by controlHeading(), and HorizontalControl().

---

The documentation for this class was generated from the following files:

• /Volumes/ubuntu_share/lrauv-application/Source/controlModule/HorizontalControl.h
• /Volumes/ubuntu_share/lrauv-application/Source/controlModule/HorizontalControl.cpp