WarpTwin
Documentation for WarpTwin models and classes.
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warpos::PdAttitudeControl Class Reference

Simple PD attitude controller. More...

#include <PdAttitudeControl.h>

Inheritance diagram for warpos::PdAttitudeControl:
Inheritance graph
[legend]

Classes

struct  Params
struct  Inputs
struct  Outputs

Public Member Functions

 PdAttitudeControl (FlightExecutive &executive)
virtual ~PdAttitudeControl ()
int16 activate () override
 Activate the app. The app will step when active.
int16 deactivate () override
 Deactivate the app. The app will not step when deactivated.
int16 command (uint16 apid, uint8 *buffer, uint16 size) override
 Process commands issued to the app.
Public Member Functions inherited from warpos::App
 App (FlightExecutive &executive, const char *name, uint16 apid, uint8 instance=0)
 Executive-based constructor for the task.
virtual ~App ()
 Destructor. Doesn't really do anything.
int16 startup ()
 Initialize the app. Should be called once before step.
int16 step ()
 Step the app by a single step. Maps params, inputs, etc. to outputs.
log_level_e logLevel ()
 Get the log level set for the executive.
void logLevel (log_level_e log_level)
 Set the executive log level.
bool isStarted ()
 Return whether task startup has been run.
uint16 apid ()
 Get the apid for this app.
uint8 & instance ()
 Get the instance of this app (used to differentiate between multiple instances of the same app).
Public Member Functions inherited from clockwerk::GraphTreeObject
 GraphTreeObject (const char *gt_nme="", GraphTreeObject **storage_array=nullptr, uint32 storage_size=0)
 Name-based constructor for GraphTreeObject which will have no children by default.
virtual ~GraphTreeObject ()
 Destructor.
GraphTreeObject * parent ()
 Functions to get object's parent/children.
GraphTreeObject ** children ()
GraphTreeObject * childAtIndex (uint8 i) const
int16 parent (GraphTreeObject *new_parent)
 Function to assign the node's parent via pointer.
int16 parent (GraphTreeObject &new_parent)
 Function to assign the node's parent via reference.
uint8 nChildren () const
 Getters for number of children and descendants.
uint16 nDescendants () const
uint8 capacity () const
const char * name () const
 Getter and setter for object name.
int16 name (const char *new_name)
uint8 rank ()
 Getter for the object rank.
int8 type ()
 Function to indicate type – -1 by default unless implemented downstream.
bool loggable ()
 Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject * getRootDataPointer ()
 Get the pointer to the highest object in the graph tree.
virtual int16 str (char *output, size_t size) const
 Get object represented as string.
virtual int16 fromStr (const char *val)
 Set value of graphtreeobject from string.

Public Attributes

Params params = Params(this, "params")
Inputs inputs = Inputs(this, "inputs")
Outputs outputs = Outputs(this, "outputs")
Public Attributes inherited from warpos::App
clockwerk::DataIO< bool > active = clockwerk::DataIO<bool>(this, "active", true)
 The active flag for the task – set to true by default.

Protected Member Functions

int16 start () override
int16 execute () override
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16 _setStorage (GraphTreeObject **storage_array, uint8 storage_size)
 Getter for object's string address.
void _recalculateDescendants ()
 Function to recursively re-calculate the number of descendants of a given node on the tree.
void _recalculateRank ()
 Function to recursively re-calculate the rank of a given node on the tree.
int16 _addChild (GraphTreeObject *child)
 Function to decompose a string into a series of substrings via indexing.
int16 _removeChild (GraphTreeObject *child)
 Function to remove a child from the graph node's children.

Protected Attributes

floating_point _angle
 Internal variable for the attiude angle error (radians).
clockwerk::CartesianVector< 3 > _K = clockwerk::CartesianVector<3> ({0.0, 0.0, 0.0})
 Internal constants for gains.
clockwerk::CartesianVector< 3 > _PP = clockwerk::CartesianVector<3> ({0.0, 0.0, 0.0})
floating_point _att_deadband_rad = 0.0
clockwerk::CartesianVector< 3 > _err_quat_vec
 Temporary vector for quaternion vector component.
clockwerk::CartesianVector< 3 > _prop_cmd
 Temporary vectors to hold proportional and derivative command terms:
clockwerk::CartesianVector< 3 > _deriv_cmd
clockwerk::Quaternion _quat_act_cmd
 Quaternion representing the distance between the actual and commanded quaternion.
tlm_gnc_pd_att_ctrl_data _tlm_data
 Internal variables to hold telemetry buffer for packing tlm.
Protected Attributes inherited from warpos::App
FlightExecutive & exc
 Override our executive to include the FlightExecutive instead.
int16 _error = 0
 Internal variable to track and return error on app step through.
uint16 _apid = 0
 Internal variable to hold the APID for this app.
bool _is_started = false
 Flag indicating whether app has been started or not.
log_level_e _local_log_level = log_level_e::LOG_WARNING
 The log level for this particular app.
GraphTreeObject * _app_children [MAXIMUM_APP_CHILDREN]
 Local storage for App children so it can live on the graph tree.
uint8 _instance
 Instance number of this app. Used to differentiate between multiple instances of the same app.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject * _parent = nullptr
GraphTreeObject ** _children_ptr = nullptr
uint32 _max_num_children = 0
uint16 _num_descendants = 0
char _name [MAXIMUM_NAME_CHARS] = ""
 String name for object.
uint8 _num_children = 0
 Number of direct children of the tree (not including the tree itself).
uint8 _rank = 0
int8 _graph_tree_type = BASE_GRAPH_TREE
 Variable to store graph tree object type.
bool _loggable = false
 Variable to indicate whether the selected object is loggable. Set to false by default.
uint32 _index = 0
 Index pointing to the next write location for the graph tree children.

Detailed Description

Simple PD attitude controller.

This app implements a simple PD attitude controller using a quaternion and body-referenced angular velocity, where the P term is based on the vector component of the error quaternion between desired and actual, and the D term is based on the difference between the angular velocities.

CONTROL = P*quat_err + K*ang_vel_err

The controller implements a deadband which is based on the magnitude of the rotation quaternion between desired and actual.

As of 10/22/2025, P and K are three element vectors

As of 10/22/2025, P and K are three element vectors

Constructor & Destructor Documentation

◆ PdAttitudeControl()

warpos::PdAttitudeControl::PdAttitudeControl ( FlightExecutive & executive)

◆ ~PdAttitudeControl()

virtual warpos::PdAttitudeControl::~PdAttitudeControl ( )
inlinevirtual

Member Function Documentation

◆ activate()

int16 warpos::PdAttitudeControl::activate ( )
overridevirtual

Activate the app. The app will step when active.

Returns
Flag indicating success/failure

Reimplemented from warpos::App.

◆ command()

int16 warpos::PdAttitudeControl::command ( uint16 apid,
uint8 * buffer,
uint16 size )
overridevirtual

Process commands issued to the app.

Parameters
apidThe APID of the command sent
bufferPointer to the location of the buffer holding the command
sizeThe size of the command being sent
Returns
Flag indicating success/failure

Reimplemented from warpos::App.

◆ deactivate()

int16 warpos::PdAttitudeControl::deactivate ( )
overridevirtual

Deactivate the app. The app will not step when deactivated.

Returns
Flag indicating success/failure

Reimplemented from warpos::App.

◆ execute()

int16 warpos::PdAttitudeControl::execute ( )
overrideprotectedvirtual

Reimplemented from warpos::App.

◆ start()

int16 warpos::PdAttitudeControl::start ( )
overrideprotectedvirtual

Reimplemented from warpos::App.

Member Data Documentation

◆ _angle

floating_point warpos::PdAttitudeControl::_angle
protected

Internal variable for the attiude angle error (radians).

◆ _att_deadband_rad

floating_point warpos::PdAttitudeControl::_att_deadband_rad = 0.0
protected

◆ _deriv_cmd

clockwerk::CartesianVector<3> warpos::PdAttitudeControl::_deriv_cmd
protected

◆ _err_quat_vec

clockwerk::CartesianVector<3> warpos::PdAttitudeControl::_err_quat_vec
protected

Temporary vector for quaternion vector component.

◆ _K

clockwerk::CartesianVector<3> warpos::PdAttitudeControl::_K = clockwerk::CartesianVector<3> ({0.0, 0.0, 0.0})
protected

Internal constants for gains.

◆ _PP

clockwerk::CartesianVector<3> warpos::PdAttitudeControl::_PP = clockwerk::CartesianVector<3> ({0.0, 0.0, 0.0})
protected

◆ _prop_cmd

clockwerk::CartesianVector<3> warpos::PdAttitudeControl::_prop_cmd
protected

Temporary vectors to hold proportional and derivative command terms:

◆ _quat_act_cmd

clockwerk::Quaternion warpos::PdAttitudeControl::_quat_act_cmd
protected

Quaternion representing the distance between the actual and commanded quaternion.

◆ _tlm_data

tlm_gnc_pd_att_ctrl_data warpos::PdAttitudeControl::_tlm_data
protected

Internal variables to hold telemetry buffer for packing tlm.

◆ inputs

Inputs warpos::PdAttitudeControl::inputs = Inputs(this, "inputs")

◆ outputs

Outputs warpos::PdAttitudeControl::outputs = Outputs(this, "outputs")

◆ params

Params warpos::PdAttitudeControl::params = Params(this, "params")
The documentation for this class was generated from the following files: