surfaceEntityPilotController.h File Reference

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Classes
class	DtSurfaceEntityPilotController
	The DtSurfaceEntityPilotController provides basic movement capabilities for surface entities and creates the ports needed to control surface entity actuators. More...

Macros
#define	REDUCED_ACCELERATION_FACTOR   0.5
	DtSurfaceEntityPilotController; provides functionality common to surface entity movement controllers.
#define	PROPORTIONAL_SPEED_CONTROL   1.0
	Constant for proportional speed control.
#define	DIRECT_HEADING_CONTROL_ANGLE   0.5
	When entity is within this angle of the desired heading, it ignores desired turn direction and servos directly to the heading.
#define	HEADING_GOAL_EPSILON   0.001
	When entity is within this angle of the desired heading, it assumes the heading has been reached.

Detailed Description

Macro Definition Documentation

#define REDUCED_ACCELERATION_FACTOR   0.5

DtSurfaceEntityPilotController; provides functionality common to surface entity movement controllers.

Amount max acceleration is reduced when speed is over half of max speed.

#define PROPORTIONAL_SPEED_CONTROL   1.0

Constant for proportional speed control.

#define DIRECT_HEADING_CONTROL_ANGLE   0.5

When entity is within this angle of the desired heading, it ignores desired turn direction and servos directly to the heading.

(Outside this angle, the turn direction in the task parameters may force a turn "the long way" around to the desired heading.)

#define HEADING_GOAL_EPSILON   0.001

When entity is within this angle of the desired heading, it assumes the heading has been reached.

When the heading gets close to the goal, the actuator clamps the orientation to the goal, but the transformation to heading may not exactly match the goal heading value, so this controller needs an epsilon as well.