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

#include <VerticalControl.h>

Inheritance diagram for VerticalControl:

Collaboration diagram for VerticalControl:

Public Member Functions
	VerticalControl (const Module *module)

virtual	~VerticalControl ()

void	initialize (void)
	Provide a space for initialization before being run. 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)

Private Member Functions
	VerticalControl (const VerticalControl &old)

bool	readConfig (void)
	Load VerticalControl parameters. More...

void	controlVertical (void)

void	controlDepth (float depthCmd)

void	controlDepthRate (float depthRateCmd)

void	setPitch (float pitchCmd)

void	setPitchRate (float pitchRateCmd)

void	setMassAndElevator (float massPositionCmd, float elevatorAngleCmd)
	attempts to achieve the desired mass and elevator settings More...

void	setBuoyancy (float buoyancyCmd)

float	elevatorControl (float pitch, float pitchCmd, float pitchRate)

float	massControl (float pitch, float pitchCmd, float pitchRate, bool forceIntegrator=false)

void	massAndElevatorControl (float pitch, float pitchCmd, float pitchRate, float &massPositionAction, float &elevatorAngleAction)

void	floatAtSurface ()

float	getMassPitchFilterError (float pitch, float pitchCmd, float dt)

void	overrideVertical ()
	Apply buoyancy or drop weight overrides if necessary. More...

Private Attributes
float	elevatorPitchIntegral_

float	massPitchIntegral_

float *	massFilter_

int	massFilterPos_

int	massFilterBins_

float	lastPitchCmd_

Timestamp	lastPitchChange_

float	depthIntegral_

float	depth2buoyInt_

float	lastDepthRateCmd_

Trajectory	depthTrajectory_

bool	ok_

float	buoyancyCmd_

float	lastBuoyancyCmd_

float	buoyancyPosition_

float	lastBuoyancyPosition_

float	lastPitch_

float	lastDepthCmd_

float	periodCmd_

float	speedCmd_

bool	waitingForDepthCrossing_

Timestamp	excursionStartTime_

bool	previouslyBelowExcursion_

float	minAscendPitchCfg_

float	minDepthExcursion_

float *	depthRateFilter_

int	depthRateFilterIndex_

Timestamp	failToGoDownStart_

Timestamp	failToGoUpStart_

float	failToGoDownDepth_

float	failToGoUpDepth_

bool	missionEnded_

bool	burnwireActivated_

VerticalControlIF::VerticalMode	verticalMode_

float	buoyancyDefault_
	Configuration values. More...

float	buoyancyLimitHiCC_

float	buoyancyLimitLoCC_

float	buoyancyNeutral_

float	buoyancyPumpDepth_

float	depthDeadband_

float	depthRateDeadband_

int	depthRateSamples_

float	dropWtDepthExcursion_

Timespan	dropWtOverrideDelay_

float	elevDeadband_

float	elevatorLimit_

float	elevatorTurnTime_

float	elevDeviation_

Timespan	excursionDepthTimeout_

float	kdDepth_

float	kdDepthBuoy_

float	kdDepthRateBuoy_

float	kdPitchElevator_

float	kdPitchMass_

float	kiDepth_

float	kiDepthBuoy_

float	kiDepthOff_

float	kiDepthRateBuoy_

float	kiPitchElevator_

float	kiPitchMass_

float	kpDepth_

float	kpDepthBuoy_

float	kpDepthRateBuoy_

float	kpPitchElevator_

float	kpPitchMass_

int	limitDepthTrajectory_

float	massDeadband_

float	massDefault_

float	massFilterLimit_

float	massFilterWidth_

float	massPositionLimitFwd_

float	massPositionLimitAft_

float	massTurnTime_

float	maxBuoyDiveAccel_

float	maxBuoyDiveRate_

float	maxBuoyInt_

float	maxDepthInt_

float	maxDiveAccel_

float	maxDiveRate_

float	maxPitchElevatorInt_

float	maxPitchMassInt_

float	maxPitchRate_

float	nominalDt_

float	pitchLimit_

float	stopDepthExcursion_

Timespan	stopOverrideDelay_

Timespan	stopOverrideDelayBuoy_

float	surfaceThreshold_

int	useElevIntInDepthMode_

DataReader *	verticalModeReader_
	Command readers. More...

DataReader *	depthCmdReader_

DataReader *	depthRateCmdReader_

DataReader *	pitchCmdReader_

DataReader *	pitchRateCmdReader_

DataReader *	massPositionCmdReader_

DataReader *	elevatorAngleCmdReader_

DataReader *	buoyancyCmdReader_

DataReader *	periodCmdReader_
	Other controllers' Command readers. More...

DataReader *	speedCmdReader_

ConfigReader *	buoyancyDefaultCfgReader_
	Config readers. More...

ConfigReader *	buoyancyLimitHiCCCfgReader_

ConfigReader *	buoyancyLimitLoCCCfgReader_

ConfigReader *	buoyancyNeutralCfgReader_

ConfigReader *	buoyancyPumpDepthCfgReader_

ConfigReader *	depthDeadbandCfgReader_

ConfigReader *	depthRateDeadbandCfgReader_

ConfigReader *	depthRateSamplesCfgReader_

ConfigReader *	dropWtDepthExcursionCfgReader_

ConfigReader *	dropWtOverrideDelayCfgReader_

ConfigReader *	elevatorDeadbandCfgReader_

ConfigReader *	elevatorLimitCfgReader_

ConfigReader *	elevatorTurnTimeCfgReader_

ConfigReader *	excursionDepthTimeoutCfgReader_

ConfigReader *	kdDepthBuoyCfgReader_

ConfigReader *	kdDepthCfgReader_

ConfigReader *	kdDepthRateBuoyCfgReader_

ConfigReader *	kdPitchElevatorCfgReader_

ConfigReader *	kdPitchMassCfgReader_

ConfigReader *	kiDepthBuoyCfgReader_

ConfigReader *	kiDepthCfgReader_

ConfigReader *	kiDepthOffCfgReader_

ConfigReader *	kiDepthRateBuoyCfgReader_

ConfigReader *	kiPitchElevatorCfgReader_

ConfigReader *	kiPitchMassCfgReader_

ConfigReader *	kpDepthBuoyCfgReader_

ConfigReader *	kpDepthCfgReader_

ConfigReader *	kpDepthRateBuoyCfgReader_

ConfigReader *	kpPitchElevatorCfgReader_

ConfigReader *	kpPitchMassCfgReader_

ConfigReader *	limitDepthTrajectoryCfgReader_

ConfigReader *	massDeadbandCfgReader_

ConfigReader *	massDefaultCfgReader_

ConfigReader *	massFilterLimitCfgReader_

ConfigReader *	massFilterWidthCfgReader_

ConfigReader *	massPositionLimitFwdCfgReader_

ConfigReader *	massPositionLimitAftCfgReader_

ConfigReader *	massTurnTimeCfgReader_

ConfigReader *	maxBuoyDiveAccelCfgReader_

ConfigReader *	maxBuoyDiveRateCfgReader_

ConfigReader *	maxBuoyIntCfgReader_

ConfigReader *	maxDepthIntCfgReader_

ConfigReader *	maxDiveAccelCfgReader_

ConfigReader *	maxDiveRateCfgReader_

ConfigReader *	maxPitchElevatorIntCfgReader_

ConfigReader *	maxPitchMassIntCfgReader_

ConfigReader *	maxPitchRateCfgReader_

ConfigReader *	minAscendPitchCfgReader_

ConfigReader *	minDepthExcursionCfgReader_

ConfigReader *	nominalDtCfgReader_

ConfigReader *	pitchLimitCfgReader_

ConfigReader *	stopDepthExcursionCfgReader_

ConfigReader *	stopOverrideDelayCfgReader_

ConfigReader *	stopOverrideDelayBuoyCfgReader_

ConfigReader *	surfaceThresholdCfgReader_

ConfigReader *	useElevIntInDepthModeCfgReader_

ConfigReader *	elevDeviationCfgReader_

UniversalDataReader *	depthReader_
	Universal Readers. More...

UniversalDataReader *	pitchReader_

UniversalDataReader *	pitchRateReader_

UniversalDataReader *	depthRateReader_

UniversalDataReader *	elevatorAngleReader_

UniversalDataReader *	massPositionReader_

UniversalDataReader *	buoyancyPositionReader_

DataReader *	elevatorAngleActionReader_
	Action Readers – for reading last positions, even if from Maintain command. More...

DataReader *	massPositionActionReader_

DataWriter *	buoyancyActionWriter_
	Action Writers. More...

DataWriter *	elevatorAngleActionWriter_

DataWriter *	massPositionActionWriter_

DataWriter *	speedCmdWriter_

DataWriter *	depth2buoyIntInternalWriter_
	Debugging Writers. More...

DataWriter *	depthErrorInternalWriter_

DataWriter *	depthIntegralInternalWriter_

DataWriter *	dtWriter_

DataWriter *	elevatorIntegralWriter_

DataWriter *	massIntegralWriter_

DataWriter *	massPitchErrorWriter_

DataWriter *	pitchInternalWriter_

DataWriter *	smoothDepthInternalWriter_

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 ()

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...

Detailed Description

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

It accepts a number of inputs that specify the desired depth or pitch of the vehicle, and combined with depth and pitch sensor inputs, converts the settings to commands that are ultimately relayed to devices via ElevatorServo, MovableMassServo, and BuoyancyServo.

VerticalControl.h should only be included by VerticalControl.cpp Other classes should include VerticalControlIF.h

Constructor & Destructor Documentation

VerticalControl::VerticalControl ( const Module * module )

References buoyancyActionWriter_, buoyancyCmdReader_, buoyancyDefault_, buoyancyDefaultCfgReader_, buoyancyLimitHiCCCfgReader_, buoyancyLimitLoCCCfgReader_, buoyancyNeutralCfgReader_, buoyancyPositionReader_, buoyancyPumpDepthCfgReader_, UniversalURI::DEPTH, depth2buoyIntInternalWriter_, UniversalURI::DEPTH_RATE, depthCmdReader_, depthDeadbandCfgReader_, depthErrorInternalWriter_, depthIntegralInternalWriter_, depthRateCmdReader_, depthRateDeadbandCfgReader_, depthRateReader_, depthRateSamplesCfgReader_, depthReader_, dropWtDepthExcursionCfgReader_, dropWtOverrideDelayCfgReader_, dtWriter_, elevatorAngleActionReader_, elevatorAngleActionWriter_, elevatorAngleCmdReader_, elevatorAngleReader_, elevatorDeadbandCfgReader_, elevatorIntegralWriter_, elevatorLimitCfgReader_, elevatorTurnTimeCfgReader_, elevDeviationCfgReader_, excursionDepthTimeoutCfgReader_, VerticalControlIF::FLOAT_ON_SURFACE, kdDepthBuoyCfgReader_, kdDepthCfgReader_, kdDepthRateBuoyCfgReader_, kdPitchElevatorCfgReader_, kdPitchMassCfgReader_, kiDepthBuoyCfgReader_, kiDepthCfgReader_, kiDepthOffCfgReader_, kiDepthRateBuoyCfgReader_, kiPitchElevatorCfgReader_, kiPitchMassCfgReader_, kpDepthBuoyCfgReader_, kpDepthCfgReader_, kpDepthRateBuoyCfgReader_, kpPitchElevatorCfgReader_, kpPitchMassCfgReader_, lastBuoyancyCmd_, limitDepthTrajectoryCfgReader_, Component::logger_, massDeadbandCfgReader_, massDefaultCfgReader_, massFilterLimitCfgReader_, massFilterWidthCfgReader_, massIntegralWriter_, massPitchErrorWriter_, massPositionActionReader_, massPositionActionWriter_, massPositionCmdReader_, massPositionLimitAftCfgReader_, massPositionLimitFwdCfgReader_, massPositionReader_, massTurnTimeCfgReader_, maxBuoyDiveAccelCfgReader_, maxBuoyDiveRateCfgReader_, maxBuoyIntCfgReader_, maxDepthIntCfgReader_, maxDiveAccelCfgReader_, maxDiveRateCfgReader_, maxPitchElevatorIntCfgReader_, maxPitchMassIntCfgReader_, maxPitchRateCfgReader_, minAscendPitchCfgReader_, minDepthExcursionCfgReader_, Component::newConfigReader(), Component::newDataReader(), Component::newDataWriter(), Component::newUniversalReader(), nominalDtCfgReader_, periodCmdReader_, pitchCmdReader_, pitchInternalWriter_, pitchLimitCfgReader_, pitchRateCmdReader_, pitchRateReader_, pitchReader_, UniversalURI::PLATFORM_BUOYANCY_POSITION, UniversalURI::PLATFORM_ELEVATOR_ANGLE, UniversalURI::PLATFORM_MASS_POSITION, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_PITCH_RATE, smoothDepthInternalWriter_, speedCmdReader_, speedCmdWriter_, stopDepthExcursionCfgReader_, stopOverrideDelayBuoyCfgReader_, stopOverrideDelayCfgReader_, surfaceThresholdCfgReader_, Logger::syslog(), useElevIntInDepthModeCfgReader_, verticalMode_, and verticalModeReader_.

VerticalControl::~VerticalControl ( )

virtual

References depthRateFilter_, and massFilter_.

VerticalControl::VerticalControl ( const VerticalControl & old )

private

Member Function Documentation

void VerticalControl::controlDepth ( float depthCmd )

private

References Timespan::asFloat(), buoyancyCmd_, buoyancyLimitHiCC_, buoyancyLimitLoCC_, buoyancyNeutral_, depth2buoyInt_, depthDeadband_, depthErrorInternalWriter_, depthIntegral_, depthRateCmdReader_, depthRateReader_, depthReader_, depthTrajectory_, dt, Component::dt_, elevatorPitchIntegral_, floatAtSurface(), Trajectory::getXDot(), kdDepth_, kdDepthBuoy_, kiDepth_, kiDepthBuoy_, kiDepthOff_, kpDepth_, kpDepthBuoy_, lastBuoyancyCmd_, lastDepthCmd_, AuvMath::Limit(), limitDepthTrajectory_, massControl(), maxBuoyDiveAccel_, maxBuoyDiveRate_, maxBuoyInt_, maxDepthInt_, maxDiveAccel_, maxDiveRate_, Units::METER, Units::METER_PER_SECOND, AuvMath::Min(), AuvMath::NanZero(), nominalDt_, pitchCmdReader_, pitchLimit_, pitchRateReader_, pitchReader_, Trajectory::project(), Units::RADIAN, Units::RADIAN_PER_SECOND, DataReader::read(), setMassAndElevator(), setPitch(), Trajectory::setX(), Trajectory::setXDot(), smoothDepthInternalWriter_, speedCmd_, surfaceThreshold_, useElevIntInDepthMode_, DataReader::wasTouchedSinceLastRun(), and DataWriter::write().

Referenced by controlVertical(), and floatAtSurface().

void VerticalControl::controlDepthRate ( float depthRateCmd )

private

void VerticalControl::controlVertical ( void )

private

Referenced by run().

float VerticalControl::elevatorControl	(	float	pitch,
		float	pitchCmd,
		float	pitchRate
	)

private

References Timespan::asFloat(), dt, Component::dt_, elevatorLimit_, elevatorPitchIntegral_, kdPitchElevator_, kiPitchElevator_, kpPitchElevator_, AuvMath::Limit(), massPitchIntegral_, maxPitchElevatorInt_, AuvMath::NanZero(), VerticalControlIF::PITCH, VerticalControlIF::PITCH_ZERO, useElevIntInDepthMode_, and verticalMode_.

Referenced by setPitch().

void VerticalControl::floatAtSurface ( )

private

References buoyancyLimitHiCC_, buoyancyPumpDepth_, controlDepth(), depth2buoyInt_, depthIntegral_, depthReader_, elevatorLimit_, elevatorPitchIntegral_, massDefault_, massPitchIntegral_, massPositionLimitAft_, Units::METER, DataReader::read(), setBuoyancy(), setMassAndElevator(), and surfaceThreshold_.

Referenced by controlDepth(), controlDepthRate(), and controlVertical().

float VerticalControl::getMassPitchFilterError	(	float	pitch,
		float	pitchCmd,
		float	dt
	)

private

References massFilter_, massFilterBins_, massFilterLimit_, and massFilterPos_.

Referenced by massAndElevatorControl(), and massControl().

void VerticalControl::initialize ( void )

virtual

Provide a space for initialization before being run.

Reimplemented from Component.

References buoyancyDefault_, Syslog::CRITICAL, excursionStartTime_, Component::logger_, Timestamp::Now(), ok_, readConfig(), and Logger::syslog().

Referenced by run().

void VerticalControl::massAndElevatorControl	(	float	pitch,
		float	pitchCmd,
		float	pitchRate,
		float &	massPositionAction,
		float &	elevatorAngleAction
	)

private

float VerticalControl::massControl	(	float	pitch,
		float	pitchCmd,
		float	pitchRate,
		bool	forceIntegrator = `false`
	)

private

void VerticalControl::overrideVertical ( )

private

Apply buoyancy or drop weight overrides if necessary.

Referenced by run().

bool VerticalControl::readConfig ( void )

private

Load VerticalControl parameters.

References Units::BOOL, buoyancyDefault_, buoyancyDefaultCfgReader_, buoyancyLimitHiCC_, buoyancyLimitHiCCCfgReader_, buoyancyLimitLoCC_, buoyancyLimitLoCCCfgReader_, buoyancyNeutral_, buoyancyNeutralCfgReader_, buoyancyPumpDepth_, buoyancyPumpDepthCfgReader_, Units::COUNT, Units::CUBIC_CENTIMETER, depthDeadband_, depthDeadbandCfgReader_, depthRateDeadband_, depthRateDeadbandCfgReader_, depthRateFilter_, depthRateFilterIndex_, depthRateSamples_, depthRateSamplesCfgReader_, dropWtDepthExcursion_, dropWtDepthExcursionCfgReader_, dropWtOverrideDelay_, dropWtOverrideDelayCfgReader_, elevatorDeadbandCfgReader_, elevatorLimit_, elevatorLimitCfgReader_, elevatorTurnTime_, elevatorTurnTimeCfgReader_, elevDeadband_, elevDeviation_, elevDeviationCfgReader_, excursionDepthTimeout_, excursionDepthTimeoutCfgReader_, kdDepth_, kdDepthBuoy_, kdDepthBuoyCfgReader_, kdDepthCfgReader_, kdDepthRateBuoy_, kdDepthRateBuoyCfgReader_, kdPitchElevator_, kdPitchElevatorCfgReader_, kdPitchMass_, kdPitchMassCfgReader_, kiDepth_, kiDepthBuoy_, kiDepthBuoyCfgReader_, kiDepthCfgReader_, kiDepthOff_, kiDepthOffCfgReader_, kiDepthRateBuoy_, kiDepthRateBuoyCfgReader_, kiPitchElevator_, kiPitchElevatorCfgReader_, kiPitchMass_, kiPitchMassCfgReader_, kpDepth_, kpDepthBuoy_, kpDepthBuoyCfgReader_, kpDepthCfgReader_, kpDepthRateBuoy_, kpDepthRateBuoyCfgReader_, kpPitchElevator_, kpPitchElevatorCfgReader_, kpPitchMass_, kpPitchMassCfgReader_, limitDepthTrajectory_, limitDepthTrajectoryCfgReader_, massDeadband_, massDeadbandCfgReader_, massDefault_, massDefaultCfgReader_, massFilterLimit_, massFilterLimitCfgReader_, massFilterWidth_, massFilterWidthCfgReader_, massPositionLimitAft_, massPositionLimitAftCfgReader_, massPositionLimitFwd_, massPositionLimitFwdCfgReader_, massTurnTime_, massTurnTimeCfgReader_, maxBuoyDiveAccel_, maxBuoyDiveAccelCfgReader_, maxBuoyDiveRate_, maxBuoyDiveRateCfgReader_, maxBuoyInt_, maxBuoyIntCfgReader_, maxDepthInt_, maxDepthIntCfgReader_, maxDiveAccel_, maxDiveAccelCfgReader_, maxDiveRate_, maxDiveRateCfgReader_, maxPitchElevatorInt_, maxPitchElevatorIntCfgReader_, maxPitchMassInt_, maxPitchMassIntCfgReader_, maxPitchRate_, maxPitchRateCfgReader_, Units::METER, Units::METER_PER_SECOND, Units::METER_PER_SECOND_SQUARED, minAscendPitchCfg_, minAscendPitchCfgReader_, minDepthExcursion_, minDepthExcursionCfgReader_, nominalDt_, nominalDtCfgReader_, pitchLimit_, pitchLimitCfgReader_, Units::RADIAN, Units::RADIAN_PER_METER, Units::RADIAN_PER_SECOND, Units::RADIAN_PER_SECOND_PER_METER, Units::RADIAN_SECOND_PER_METER, Units::RATIO, DataReader::read(), Units::RECIPROCAL_SECOND, Units::SECOND, Timespan::Seconds(), stopDepthExcursion_, stopDepthExcursionCfgReader_, stopOverrideDelay_, stopOverrideDelayBuoy_, stopOverrideDelayBuoyCfgReader_, stopOverrideDelayCfgReader_, surfaceThreshold_, surfaceThresholdCfgReader_, useElevIntInDepthMode_, and useElevIntInDepthModeCfgReader_.

Referenced by controlVertical(), and initialize().

void VerticalControl::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References controlVertical(), Units::CUBIC_CENTIMETER, depth2buoyInt_, depth2buoyIntInternalWriter_, depthIntegral_, depthIntegralInternalWriter_, elevatorIntegralWriter_, elevatorPitchIntegral_, Syslog::ERROR, VerticalControlIF::FLOAT_ON_SURFACE, initialize(), DataReader::isActive(), Component::logger_, massIntegralWriter_, massPitchIntegral_, Units::METER, ok_, overrideVertical(), Units::RADIAN, Logger::syslog(), verticalMode_, verticalModeReader_, and DataWriter::write().

void VerticalControl::setBuoyancy ( float buoyancyCmd )

private

References buoyancyActionWriter_, buoyancyDefault_, buoyancyLimitHiCC_, buoyancyLimitLoCC_, buoyancyPumpDepth_, Units::CUBIC_CENTIMETER, depthReader_, AuvMath::Limit(), Units::METER, DataReader::read(), and DataWriter::write().

Referenced by controlVertical(), and floatAtSurface().

void VerticalControl::setMassAndElevator	(	float	massPositionCmd,
		float	elevatorAngleCmd
	)

private

attempts to achieve the desired mass and elevator settings

References elevatorAngleActionReader_, elevatorAngleActionWriter_, elevatorAngleCmdReader_, elevatorLimit_, elevDeadband_, DataReader::isActive(), AuvMath::Limit(), massDeadband_, massPositionActionReader_, massPositionActionWriter_, massPositionCmdReader_, massPositionLimitAft_, massPositionLimitFwd_, Units::METER, Units::RADIAN, DataReader::read(), AuvMath::Sign(), DataReader::wasTouchedSinceLastRun(), and DataWriter::write().

Referenced by controlDepth(), controlDepthRate(), controlVertical(), floatAtSurface(), and setPitch().

void VerticalControl::setPitch ( float pitchCmd )

private

void VerticalControl::setPitchRate ( float pitchRateCmd )

private

References Timespan::asFloat(), dt, Component::dt_, AuvMath::Limit(), maxPitchRate_, AuvMath::NanZero(), pitchLimit_, pitchReader_, Units::RADIAN, DataReader::read(), and setPitch().

Referenced by controlVertical().

void VerticalControl::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

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

Member Data Documentation

DataWriter* VerticalControl::buoyancyActionWriter_

private

Action Writers.

Referenced by setBuoyancy(), and VerticalControl().

float VerticalControl::buoyancyCmd_

private

Referenced by controlDepth(), controlDepthRate(), and controlVertical().

DataReader* VerticalControl::buoyancyCmdReader_

private

Referenced by controlVertical(), and VerticalControl().

float VerticalControl::buoyancyDefault_

private

Configuration values.

Referenced by initialize(), readConfig(), setBuoyancy(), and VerticalControl().

ConfigReader* VerticalControl::buoyancyDefaultCfgReader_

private

Config readers.

Referenced by readConfig(), and VerticalControl().

float VerticalControl::buoyancyLimitHiCC_

private

Referenced by controlDepth(), controlDepthRate(), controlVertical(), floatAtSurface(), readConfig(), and setBuoyancy().

ConfigReader* VerticalControl::buoyancyLimitHiCCCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::buoyancyLimitLoCC_

private

Referenced by controlDepth(), controlDepthRate(), readConfig(), and setBuoyancy().

ConfigReader* VerticalControl::buoyancyLimitLoCCCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::buoyancyNeutral_

private

Referenced by controlDepth(), controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::buoyancyNeutralCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::buoyancyPosition_

private

Referenced by controlVertical().

UniversalDataReader* VerticalControl::buoyancyPositionReader_

private

Referenced by controlVertical(), and VerticalControl().

float VerticalControl::buoyancyPumpDepth_

private

Referenced by floatAtSurface(), readConfig(), and setBuoyancy().

ConfigReader* VerticalControl::buoyancyPumpDepthCfgReader_

private

Referenced by readConfig(), and VerticalControl().

bool VerticalControl::burnwireActivated_

private

Referenced by overrideVertical().

float VerticalControl::depth2buoyInt_

private

Referenced by controlDepth(), controlDepthRate(), controlVertical(), floatAtSurface(), and run().

DataWriter* VerticalControl::depth2buoyIntInternalWriter_

private

Debugging Writers.

Referenced by run(), and VerticalControl().

DataReader* VerticalControl::depthCmdReader_

private

Referenced by controlVertical(), overrideVertical(), and VerticalControl().

float VerticalControl::depthDeadband_

private

Referenced by controlDepth(), overrideVertical(), and readConfig().

ConfigReader* VerticalControl::depthDeadbandCfgReader_

private

Referenced by readConfig(), and VerticalControl().

DataWriter* VerticalControl::depthErrorInternalWriter_

private

Referenced by controlDepth(), and VerticalControl().

float VerticalControl::depthIntegral_

private

Referenced by controlDepth(), controlVertical(), floatAtSurface(), and run().

DataWriter* VerticalControl::depthIntegralInternalWriter_

private

Referenced by run(), and VerticalControl().

DataReader* VerticalControl::depthRateCmdReader_

private

Referenced by controlDepth(), controlVertical(), overrideVertical(), and VerticalControl().

float VerticalControl::depthRateDeadband_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::depthRateDeadbandCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float* VerticalControl::depthRateFilter_

private

Referenced by overrideVertical(), readConfig(), and ~VerticalControl().

int VerticalControl::depthRateFilterIndex_

private

Referenced by overrideVertical(), and readConfig().

UniversalDataReader* VerticalControl::depthRateReader_

private

Referenced by controlDepth(), controlDepthRate(), overrideVertical(), and VerticalControl().

int VerticalControl::depthRateSamples_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::depthRateSamplesCfgReader_

private

Referenced by readConfig(), and VerticalControl().

UniversalDataReader* VerticalControl::depthReader_

private

Universal Readers.

Referenced by controlDepth(), controlDepthRate(), floatAtSurface(), overrideVertical(), setBuoyancy(), and VerticalControl().

Trajectory VerticalControl::depthTrajectory_

private

Referenced by controlDepth(), controlDepthRate(), controlVertical(), and overrideVertical().

float VerticalControl::dropWtDepthExcursion_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::dropWtDepthExcursionCfgReader_

private

Referenced by readConfig(), and VerticalControl().

Timespan VerticalControl::dropWtOverrideDelay_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::dropWtOverrideDelayCfgReader_

private

Referenced by readConfig(), and VerticalControl().

DataWriter* VerticalControl::dtWriter_

private

Referenced by massAndElevatorControl(), and VerticalControl().

DataReader* VerticalControl::elevatorAngleActionReader_

private

Action Readers – for reading last positions, even if from Maintain command.

Referenced by setMassAndElevator(), and VerticalControl().

DataWriter* VerticalControl::elevatorAngleActionWriter_

private

Referenced by setMassAndElevator(), setPitch(), and VerticalControl().

DataReader* VerticalControl::elevatorAngleCmdReader_

private

Referenced by controlVertical(), setMassAndElevator(), setPitch(), and VerticalControl().

UniversalDataReader* VerticalControl::elevatorAngleReader_

private

Referenced by massAndElevatorControl(), and VerticalControl().

ConfigReader* VerticalControl::elevatorDeadbandCfgReader_

private

Referenced by readConfig(), and VerticalControl().

DataWriter* VerticalControl::elevatorIntegralWriter_

private

Referenced by run(), and VerticalControl().

float VerticalControl::elevatorLimit_

private

Referenced by elevatorControl(), floatAtSurface(), massAndElevatorControl(), readConfig(), and setMassAndElevator().

ConfigReader* VerticalControl::elevatorLimitCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::elevatorPitchIntegral_

private

Referenced by controlDepth(), controlVertical(), elevatorControl(), floatAtSurface(), massAndElevatorControl(), and run().

float VerticalControl::elevatorTurnTime_

private

Referenced by readConfig().

ConfigReader* VerticalControl::elevatorTurnTimeCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::elevDeadband_

private

Referenced by readConfig(), and setMassAndElevator().

float VerticalControl::elevDeviation_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::elevDeviationCfgReader_

private

Referenced by readConfig(), and VerticalControl().

Timespan VerticalControl::excursionDepthTimeout_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::excursionDepthTimeoutCfgReader_

private

Referenced by readConfig(), and VerticalControl().

Timestamp VerticalControl::excursionStartTime_

private

Referenced by initialize(), and overrideVertical().

float VerticalControl::failToGoDownDepth_

private

Referenced by overrideVertical().

Timestamp VerticalControl::failToGoDownStart_

private

Referenced by overrideVertical().

float VerticalControl::failToGoUpDepth_

private

Referenced by overrideVertical().

Timestamp VerticalControl::failToGoUpStart_

private

Referenced by overrideVertical().

float VerticalControl::kdDepth_

private

Referenced by controlDepth(), and readConfig().

float VerticalControl::kdDepthBuoy_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::kdDepthBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

ConfigReader* VerticalControl::kdDepthCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kdDepthRateBuoy_

private

Referenced by controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::kdDepthRateBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kdPitchElevator_

private

Referenced by elevatorControl(), massAndElevatorControl(), and readConfig().

ConfigReader* VerticalControl::kdPitchElevatorCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kdPitchMass_

private

Referenced by massControl(), and readConfig().

ConfigReader* VerticalControl::kdPitchMassCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kiDepth_

private

Referenced by controlDepth(), and readConfig().

float VerticalControl::kiDepthBuoy_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::kiDepthBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

ConfigReader* VerticalControl::kiDepthCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kiDepthOff_

private

Referenced by controlDepth(), controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::kiDepthOffCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kiDepthRateBuoy_

private

Referenced by controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::kiDepthRateBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kiPitchElevator_

private

Referenced by elevatorControl(), massAndElevatorControl(), and readConfig().

ConfigReader* VerticalControl::kiPitchElevatorCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kiPitchMass_

private

Referenced by massAndElevatorControl(), massControl(), and readConfig().

ConfigReader* VerticalControl::kiPitchMassCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kpDepth_

private

Referenced by controlDepth(), and readConfig().

float VerticalControl::kpDepthBuoy_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::kpDepthBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

ConfigReader* VerticalControl::kpDepthCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kpDepthRateBuoy_

private

Referenced by controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::kpDepthRateBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kpPitchElevator_

private

Referenced by elevatorControl(), massAndElevatorControl(), and readConfig().

ConfigReader* VerticalControl::kpPitchElevatorCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::kpPitchMass_

private

Referenced by massControl(), and readConfig().

ConfigReader* VerticalControl::kpPitchMassCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::lastBuoyancyCmd_

private

Referenced by controlDepth(), controlDepthRate(), and VerticalControl().

float VerticalControl::lastBuoyancyPosition_

private

Referenced by controlVertical().

float VerticalControl::lastDepthCmd_

private

Referenced by controlDepth().

float VerticalControl::lastDepthRateCmd_

private

Referenced by controlDepthRate().

float VerticalControl::lastPitch_

private

Referenced by massAndElevatorControl(), and massControl().

Timestamp VerticalControl::lastPitchChange_

private

float VerticalControl::lastPitchCmd_

private

int VerticalControl::limitDepthTrajectory_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::limitDepthTrajectoryCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::massDeadband_

private

Referenced by readConfig(), and setMassAndElevator().

ConfigReader* VerticalControl::massDeadbandCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::massDefault_

private

Referenced by controlVertical(), floatAtSurface(), massAndElevatorControl(), massControl(), and readConfig().

ConfigReader* VerticalControl::massDefaultCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float* VerticalControl::massFilter_

private

Referenced by controlVertical(), getMassPitchFilterError(), and ~VerticalControl().

int VerticalControl::massFilterBins_

private

Referenced by controlVertical(), and getMassPitchFilterError().

float VerticalControl::massFilterLimit_

private

Referenced by getMassPitchFilterError(), and readConfig().

ConfigReader* VerticalControl::massFilterLimitCfgReader_

private

Referenced by readConfig(), and VerticalControl().

int VerticalControl::massFilterPos_

private

Referenced by controlVertical(), and getMassPitchFilterError().

float VerticalControl::massFilterWidth_

private

Referenced by controlVertical(), and readConfig().

ConfigReader* VerticalControl::massFilterWidthCfgReader_

private

Referenced by readConfig(), and VerticalControl().

DataWriter* VerticalControl::massIntegralWriter_

private

Referenced by run(), and VerticalControl().

DataWriter* VerticalControl::massPitchErrorWriter_

private

Referenced by massAndElevatorControl(), massControl(), and VerticalControl().

float VerticalControl::massPitchIntegral_

private

Referenced by controlVertical(), elevatorControl(), floatAtSurface(), massAndElevatorControl(), massControl(), and run().

DataReader* VerticalControl::massPositionActionReader_

private

Referenced by setMassAndElevator(), and VerticalControl().

DataWriter* VerticalControl::massPositionActionWriter_

private

Referenced by setMassAndElevator(), and VerticalControl().

DataReader* VerticalControl::massPositionCmdReader_

private

Referenced by controlVertical(), setMassAndElevator(), setPitch(), and VerticalControl().

float VerticalControl::massPositionLimitAft_

private

Referenced by floatAtSurface(), massAndElevatorControl(), massControl(), readConfig(), and setMassAndElevator().

ConfigReader* VerticalControl::massPositionLimitAftCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::massPositionLimitFwd_

private

Referenced by massAndElevatorControl(), massControl(), readConfig(), and setMassAndElevator().

ConfigReader* VerticalControl::massPositionLimitFwdCfgReader_

private

Referenced by readConfig(), and VerticalControl().

UniversalDataReader* VerticalControl::massPositionReader_

private

Referenced by massAndElevatorControl(), and VerticalControl().

float VerticalControl::massTurnTime_

private

Referenced by readConfig().

ConfigReader* VerticalControl::massTurnTimeCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxBuoyDiveAccel_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::maxBuoyDiveAccelCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxBuoyDiveRate_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::maxBuoyDiveRateCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxBuoyInt_

private

Referenced by controlDepth(), controlDepthRate(), and readConfig().

ConfigReader* VerticalControl::maxBuoyIntCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxDepthInt_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::maxDepthIntCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxDiveAccel_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::maxDiveAccelCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxDiveRate_

private

Referenced by controlDepth(), and readConfig().

ConfigReader* VerticalControl::maxDiveRateCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxPitchElevatorInt_

private

Referenced by elevatorControl(), massAndElevatorControl(), and readConfig().

ConfigReader* VerticalControl::maxPitchElevatorIntCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxPitchMassInt_

private

Referenced by massAndElevatorControl(), massControl(), and readConfig().

ConfigReader* VerticalControl::maxPitchMassIntCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::maxPitchRate_

private

Referenced by readConfig(), setPitch(), and setPitchRate().

ConfigReader* VerticalControl::maxPitchRateCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::minAscendPitchCfg_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::minAscendPitchCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::minDepthExcursion_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::minDepthExcursionCfgReader_

private

Referenced by readConfig(), and VerticalControl().

bool VerticalControl::missionEnded_

private

Referenced by overrideVertical().

float VerticalControl::nominalDt_

private

Referenced by controlDepth(), controlDepthRate(), controlVertical(), and readConfig().

ConfigReader* VerticalControl::nominalDtCfgReader_

private

Referenced by readConfig(), and VerticalControl().

bool VerticalControl::ok_

private

Referenced by initialize(), overrideVertical(), and run().

float VerticalControl::periodCmd_

private

Referenced by controlVertical().

DataReader* VerticalControl::periodCmdReader_

private

Other controllers' Command readers.

Referenced by controlVertical(), and VerticalControl().

DataReader* VerticalControl::pitchCmdReader_

private

Referenced by controlDepth(), controlVertical(), overrideVertical(), and VerticalControl().

DataWriter* VerticalControl::pitchInternalWriter_

private

Referenced by setPitch(), and VerticalControl().

float VerticalControl::pitchLimit_

private

Referenced by controlDepth(), controlDepthRate(), readConfig(), setPitch(), and setPitchRate().

ConfigReader* VerticalControl::pitchLimitCfgReader_

private

Referenced by readConfig(), and VerticalControl().

DataReader* VerticalControl::pitchRateCmdReader_

private

Referenced by controlVertical(), overrideVertical(), and VerticalControl().

UniversalDataReader* VerticalControl::pitchRateReader_

private

Referenced by controlDepth(), controlDepthRate(), setPitch(), and VerticalControl().

UniversalDataReader* VerticalControl::pitchReader_

private

Referenced by controlDepth(), controlDepthRate(), overrideVertical(), setPitch(), setPitchRate(), and VerticalControl().

bool VerticalControl::previouslyBelowExcursion_

private

Referenced by overrideVertical().

DataWriter* VerticalControl::smoothDepthInternalWriter_

private

Referenced by controlDepth(), and VerticalControl().

float VerticalControl::speedCmd_

private

Referenced by controlDepth(), controlDepthRate(), controlVertical(), and overrideVertical().

DataReader* VerticalControl::speedCmdReader_

private

Referenced by controlVertical(), and VerticalControl().

DataWriter* VerticalControl::speedCmdWriter_

private

Referenced by setPitch(), and VerticalControl().

float VerticalControl::stopDepthExcursion_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::stopDepthExcursionCfgReader_

private

Referenced by readConfig(), and VerticalControl().

Timespan VerticalControl::stopOverrideDelay_

private

Referenced by overrideVertical(), and readConfig().

Timespan VerticalControl::stopOverrideDelayBuoy_

private

Referenced by overrideVertical(), and readConfig().

ConfigReader* VerticalControl::stopOverrideDelayBuoyCfgReader_

private

Referenced by readConfig(), and VerticalControl().

ConfigReader* VerticalControl::stopOverrideDelayCfgReader_

private

Referenced by readConfig(), and VerticalControl().

float VerticalControl::surfaceThreshold_

private

Referenced by controlDepth(), floatAtSurface(), overrideVertical(), and readConfig().

ConfigReader* VerticalControl::surfaceThresholdCfgReader_

private

Referenced by readConfig(), and VerticalControl().

int VerticalControl::useElevIntInDepthMode_

private

Referenced by controlDepth(), elevatorControl(), massAndElevatorControl(), and readConfig().

ConfigReader* VerticalControl::useElevIntInDepthModeCfgReader_

private

Referenced by readConfig(), and VerticalControl().

VerticalControlIF::VerticalMode VerticalControl::verticalMode_

private

Referenced by controlVertical(), elevatorControl(), massAndElevatorControl(), massControl(), overrideVertical(), run(), and VerticalControl().

DataReader* VerticalControl::verticalModeReader_

private

Command readers.

Referenced by controlVertical(), run(), and VerticalControl().

bool VerticalControl::waitingForDepthCrossing_

private

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

/Volumes/ubuntu_share/lrauv-application/Source/controlModule/VerticalControl.h
/Volumes/ubuntu_share/lrauv-application/Source/controlModule/VerticalControl.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation