Struct embedded_flight::copter::control::Controller

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pub struct Controller {
    pub altitude: AltitudeController,
    pub attitude: AttitudeController,
    pub body_rate: BodyRateController,
    pub lateral_position: LateralPositionController,
    pub yaw: YawController,
}

Fields

altitude: AltitudeControllerattitude: AttitudeControllerbody_rate: BodyRateControllerlateral_position: LateralPositionControlleryaw: YawController

Implementations

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impl Controller

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pub fn position_control(
 &self,
 local_position_cmd: Vector3<f32>,
 local_velocity_cmd: Vector3<f32>,
 local_position: Vector3<f32>,
 local_velocity: Vector3<f32>,
 attitude: Vector3<f32>,
 gyro: Vector3<f32>,
 moment_of_inertia: Vector3<f32>
) -> (Vector3<f32>, f32 )

Calculate the desired roll, pitch and yaw torque (in Nm) with the thrust acceleration (in m/s^2).

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pub fn position_control_with_feed_forward(
 &self,
 local_position_cmd: Vector3<f32>,
 local_velocity_cmd: Vector3<f32>,
 local_position: Vector3<f32>,
 local_velocity: Vector3<f32>,
 attitude: Vector3<f32>,
 gyro: Vector3<f32>,
 moment_of_inertia: Vector3<f32>,
 acceleration_ff: Vector2<f32>
) -> (Vector3<f32>, f32 )

Calculate the desired roll, pitch and yaw torque (in Nm) with the thrust acceleration (in m/s^2).

Trait Implementations

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impl Clone for Controller

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fn clone(&self) -> Controller

Returns a copy of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for Controller

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for Controller

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fn default() -> Controller

Returns the “default value” for a type. Read more

Auto Trait Implementations

impl RefUnwindSafe for Controller

impl Send for Controller

impl Sync for Controller

impl Unpin for Controller

impl UnwindSafe for Controller

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct embedded_flight::copter::control::Controller

Fields

Implementations

impl Controller

pub fn position_control( &self, local_position_cmd: Vector3<f32>, local_velocity_cmd: Vector3<f32>, local_position: Vector3<f32>, local_velocity: Vector3<f32>, attitude: Vector3<f32>, gyro: Vector3<f32>, moment_of_inertia: Vector3<f32>) -> (Vector3<f32>, f32)

Trait Implementations

impl Clone for Controller

fn clone(&self) -> Controller

fn clone_from(&mut self, source: &Self)

impl Debug for Controller

fn fmt(&self, f: &mut Formatter<'_>) -> Result

impl Default for Controller

fn default() -> Controller

Auto Trait Implementations

impl RefUnwindSafe for Controller

impl Send for Controller

impl Sync for Controller

impl Unpin for Controller

impl UnwindSafe for Controller

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

pub fn position_control(
&self,
local_position_cmd: Vector3<f32>,
local_velocity_cmd: Vector3<f32>,
local_position: Vector3<f32>,
local_velocity: Vector3<f32>,
attitude: Vector3<f32>,
gyro: Vector3<f32>,
moment_of_inertia: Vector3<f32>
) -> (Vector3<f32>, f32 )

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,