Boardcore::Follower Class Reference

Follower class to output the yaw ad pitch necessary to track from the GPS origin the rocket. Computes the angle to follow the rocket using its NAS origin, NED position and velocity. More...

#include <Follower.h>

Inheritance diagram for Boardcore::Follower:

Collaboration diagram for Boardcore::Follower:

Public Member Functions
	Follower (std::chrono::milliseconds updatePeriod)
	Constructor of the follower class.
bool	init () override
	Check that both the antenna and rocket coordinates have been set.
void	setAntennaCoordinates (const GPSData &gpsData)
	Setter for the GPS coordinates of the antenna.
void	setRocketNASOrigin (const GPSData &gpsData)
	Setter for the GPS coordinates of the rocket's NAS origin reference.
void	setLastRocketNasState (const NASState &nasState)
	Setter for the NAS state of the rocket.
void	setLastAntennaAttitude (const VN300Data &attitudeData)
	Setter for the attitude of the antenna.
bool	setMaxGain (float yawGainNew, float pitchGainNew)
	Set the maximum gain for the yaw and pitch.
FollowerState	getState ()
	Synchronized getter for the State of the follower algorithm.
AntennaAngles	getTargetAngles ()
	Getter for the target antenna position computed by the algorithm.
Public Member Functions inherited from Boardcore::Algorithm
void	begin ()
	Starts the execution of the algorithm and set the running flag to true.
void	end ()
	Terminates the algorithm's execution and sets the running flag to false.
void	update ()
	Checks wether the algorithm is in a running state or not, and eventually calls the.
bool	isRunning ()

Additional Inherited Members
Protected Attributes inherited from Boardcore::Algorithm
std::atomic< bool >	running {false}

Detailed Description

Follower class to output the yaw ad pitch necessary to track from the GPS origin the rocket. Computes the angle to follow the rocket using its NAS origin, NED position and velocity.

Definition at line 52 of file Follower.h.

Constructor & Destructor Documentation

Follower()

Boardcore::Follower::Follower ( std::chrono::milliseconds updatePeriod )

explicit

Constructor of the follower class.

Parameters

updatePeriod

The period of update of the follower algorithm [ms].

Definition at line 53 of file Follower.cpp.

Member Function Documentation

getState()

FollowerState Boardcore::Follower::getState

(

)

Synchronized getter for the State of the follower algorithm.

Returns

The state of the follower algorithm.

Definition at line 100 of file Follower.cpp.

getTargetAngles()

AntennaAngles Boardcore::Follower::getTargetAngles

(

)

Getter for the target antenna position computed by the algorithm.

Returns

The target antenna positions.

Definition at line 112 of file Follower.cpp.

init()

bool Boardcore::Follower::init ( )

overridevirtual

Check that both the antenna and rocket coordinates have been set.

Returns

true if initial rocket-antenna distance has been set, false otherwise.

Implements Boardcore::Algorithm.

Definition at line 132 of file Follower.cpp.

setAntennaCoordinates()

void Boardcore::Follower::setAntennaCoordinates

(

const GPSData &

gpsData

)

Setter for the GPS coordinates of the antenna.

Note

No checks for the GPS fix are done

Definition at line 58 of file Follower.cpp.

setLastAntennaAttitude()

void Boardcore::Follower::setLastAntennaAttitude

(

const VN300Data &

attitudeData

)

Setter for the attitude of the antenna.

Parameters

attitudeData

The VN300 data containing the attitude of the antenna (yaw, pitch)

Definition at line 74 of file Follower.cpp.

setLastRocketNasState()

void Boardcore::Follower::setLastRocketNasState

(

const NASState &

nasState

)

Setter for the NAS state of the rocket.

Definition at line 87 of file Follower.cpp.

setMaxGain()

bool Boardcore::Follower::setMaxGain	(	float	yawGainNew,
		float	pitchGainNew )

Set the maximum gain for the yaw and pitch.

Parameters

yawGainNew	the gain for the yaw
pitchGainNew	the gain for the pitch

Returns

true if set correctly

false if negative or over the maximum limits

Definition at line 118 of file Follower.cpp.

setRocketNASOrigin()

void Boardcore::Follower::setRocketNASOrigin

(

const GPSData &

gpsData

)

Setter for the GPS coordinates of the rocket's NAS origin reference.

Note

No checks for the GPS fix are done

Definition at line 66 of file Follower.cpp.

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

• src/shared/algorithms/Follower/Follower.h
• src/shared/algorithms/Follower/Follower.cpp