pmc::Fam Class Reference

#include <fam.h>

Public Member Functions
void	Step (const FamInput &in, uint8_t *speed_cmd, Eigen::Matrix< float, 12, 1 > &servo_pwm_cmd)
void	UpdateCOM (const Eigen::Vector3f &com)

Protected Member Functions
void	CalcThrustMatrices (const Eigen::Vector3f &force, const Eigen::Vector3f &torque, Eigen::Matrix< float, 6, 1 > &pmc1_nozzle_thrusts, Eigen::Matrix< float, 6, 1 > &pmc2_nozzle_thrusts)
float	ComputePlenumDeltaPressure (float impeller_speed, Eigen::Matrix< float, 6, 1 > &discharge_coeff, const Eigen::Matrix< float, 6, 1 > &nozzle_thrusts)
void	CalcPMServoCmd (bool is_pmc1, uint8_t speed_gain_cmd, const Eigen::Matrix< float, 6, 1 > &nozzle_thrusts, uint8_t &impeller_speed_cmd, Eigen::Matrix< float, 6, 1 > &servo_pwm_cmd, Eigen::Matrix< float, 6, 1 > &nozzle_theta_cmd, Eigen::Matrix< float, 6, 1 > &normalized_pressure_density, Eigen::Matrix< float, 6, 1 > &command_area_per_nozzle)

Protected Attributes
Eigen::Matrix< float, 3, 12 >	thrust2force_
Eigen::Matrix< float, 3, 12 >	thrust2torque_
Eigen::Matrix< float, 12, 6 >	forcetorque2thrust_

Static Protected Attributes
static const float	IMPELLER_SPEEDS [] = {2000 * 2 * M_PI / 60, 2500 * 2 * M_PI / 60, 2800 * 2 * M_PI / 60}
static constexpr int	THRUST_LOOKUP_SIZE = 316
static const float	THRUST_LOOKUP_BREAKPOINTS []
static const float	THRUST_LOOKUP_CDP []

Member Function Documentation

CalcPMServoCmd()

void pmc::Fam::CalcPMServoCmd ( bool  is_pmc1, uint8_t  speed_gain_cmd, const Eigen::Matrix< float, 6, 1 > &  nozzle_thrusts, uint8_t &  impeller_speed_cmd, Eigen::Matrix< float, 6, 1 > &  servo_pwm_cmd, Eigen::Matrix< float, 6, 1 > &  nozzle_theta_cmd, Eigen::Matrix< float, 6, 1 > &  normalized_pressure_density, Eigen::Matrix< float, 6, 1 > &  command_area_per_nozzle  )

protected

CalcThrustMatrices()

void pmc::Fam::CalcThrustMatrices ( const Eigen::Vector3f &  force, const Eigen::Vector3f &  torque, Eigen::Matrix< float, 6, 1 > &  pmc1_nozzle_thrusts, Eigen::Matrix< float, 6, 1 > &  pmc2_nozzle_thrusts  )

protected

ComputePlenumDeltaPressure()

float pmc::Fam::ComputePlenumDeltaPressure ( float  impeller_speed, Eigen::Matrix< float, 6, 1 > &  discharge_coeff, const Eigen::Matrix< float, 6, 1 > &  nozzle_thrusts  )

protected

Step()

void pmc::Fam::Step	(	const FamInput &	in,
		uint8_t *	speed_cmd,
		Eigen::Matrix< float, 12, 1 > &	servo_pwm_cmd
	)

UpdateCOM()

void pmc::Fam::UpdateCOM

(

const Eigen::Vector3f &

com

)

Member Data Documentation

forcetorque2thrust_

Eigen::Matrix<float, 12, 6> pmc::Fam::forcetorque2thrust_

protected

IMPELLER_SPEEDS

const float pmc::Fam::IMPELLER_SPEEDS = {2000 * 2 * M_PI / 60, 2500 * 2 * M_PI / 60, 2800 * 2 * M_PI / 60}

staticprotected

thrust2force_

Eigen::Matrix<float, 3, 12> pmc::Fam::thrust2force_

protected

thrust2torque_

Eigen::Matrix<float, 3, 12> pmc::Fam::thrust2torque_

protected

THRUST_LOOKUP_BREAKPOINTS

const float pmc::Fam::THRUST_LOOKUP_BREAKPOINTS

staticprotected

THRUST_LOOKUP_CDP

const float pmc::Fam::THRUST_LOOKUP_CDP

staticprotected

THRUST_LOOKUP_SIZE

constexpr int pmc::Fam::THRUST_LOOKUP_SIZE = 316

staticconstexprprotected

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

• gnc/pmc/include/pmc/fam.h
• gnc/pmc/src/fam.cc