Tuning parameters for the combined feed-forward / feedback controller. More...

#include <ControllerConfig.h>

Public Attributes
Array6d	Kp = Array6d::Zero()
	Proportional PID gains for underwater operation. More...

Array6d	Ki = Array6d::Zero()
	Integral PID gains for underwater operation. More...

Array6d	Kd = Array6d::Zero()
	Derivative PID gains for underwater operation. More...

Array6d	Kp_surface = Array6d::Zero()
	Proportional PID gains used when the vehicle is near the surface. More...

Array6d	Ki_surface = Array6d::Zero()
	Integral PID gains used when the vehicle is near the surface. More...

Array6d	Kd_surface = Array6d::Zero()
	Derivative PID gains used when the vehicle is near the surface. More...

double	ff_gain = 0.0
	Scalar weight applied to the feed-forward force contribution. More...

double	fb_gain = 1.0
	Scalar weight applied to the feedback (PID) force contribution. More...

double	buoyancy_gain = 0.0
	Scalar weight applied to the buoyancy compensation force contribution. More...

bool	surface_gain_scheduling = false
	Enables switching between surface and underwater PID gains based on depth. More...

double	surface_threshold = 0.1
	Depth threshold in metres below which surface gains are applied. More...

Array6d	axis_gain = Array6d::Ones()
	Per-axis output scaling applied after all controller contributions are summed. More...

bool	buoyancy_adaptive_z = false
	Enables the adaptive heave bias (learns and applies the residual buoyancy force) More...

double	buoyancy_adaptive_rate = 0.5
	Adaptation rate for the heave bias estimator (N per m-s of depth error) More...

double	buoyancy_adaptive_clamp_pct = 0.15
	Maximum adaptive heave bias as a fraction of net buoyancy force (e.g. More...

double	buoyancy_adaptive_pos_thresh = 0.15
	Depth error threshold for steady-state detection on heave (m) More...

double	buoyancy_adaptive_vel_thresh = 0.05
	Heave velocity threshold for steady-state detection (m/s); <= 0 disables the gate. More...

bool	buoyancy_adaptive_rp = false
	Enables the adaptive roll/pitch bias. More...

double	buoyancy_adaptive_rate_rp = 5.0
	Roll/pitch bias adaptation speed (higher learns faster) More...

double	buoyancy_adaptive_pos_thresh_rp = 0.2
	Attitude error threshold for steady-state detection on roll/pitch (deg) More...

double	buoyancy_adaptive_vel_thresh_rp = 1.0
	Body angular-rate threshold for steady-state detection on roll/pitch (deg/s); <= 0 disables the gate. More...

Detailed Description

Tuning parameters for the combined feed-forward / feedback controller.

All gain arrays follow the axis ordering [X, Y, Z, Roll, Pitch, Yaw].

Member Data Documentation

◆ axis_gain

Array6d ControllerConfig::axis_gain = Array6d::Ones()

Per-axis output scaling applied after all controller contributions are summed.

◆ buoyancy_adaptive_clamp_pct

double ControllerConfig::buoyancy_adaptive_clamp_pct = 0.15

Maximum adaptive heave bias as a fraction of net buoyancy force (e.g.

0.15 = 15%)

◆ buoyancy_adaptive_pos_thresh

double ControllerConfig::buoyancy_adaptive_pos_thresh = 0.15

Depth error threshold for steady-state detection on heave (m)

◆ buoyancy_adaptive_pos_thresh_rp

double ControllerConfig::buoyancy_adaptive_pos_thresh_rp = 0.2

Attitude error threshold for steady-state detection on roll/pitch (deg)

◆ buoyancy_adaptive_rate

double ControllerConfig::buoyancy_adaptive_rate = 0.5

Adaptation rate for the heave bias estimator (N per m-s of depth error)

◆ buoyancy_adaptive_rate_rp

double ControllerConfig::buoyancy_adaptive_rate_rp = 5.0

Roll/pitch bias adaptation speed (higher learns faster)

◆ buoyancy_adaptive_rp

bool ControllerConfig::buoyancy_adaptive_rp = false

Enables the adaptive roll/pitch bias.

◆ buoyancy_adaptive_vel_thresh

double ControllerConfig::buoyancy_adaptive_vel_thresh = 0.05

Heave velocity threshold for steady-state detection (m/s); <= 0 disables the gate.

◆ buoyancy_adaptive_vel_thresh_rp

double ControllerConfig::buoyancy_adaptive_vel_thresh_rp = 1.0

Body angular-rate threshold for steady-state detection on roll/pitch (deg/s); <= 0 disables the gate.

◆ buoyancy_adaptive_z

bool ControllerConfig::buoyancy_adaptive_z = false

Enables the adaptive heave bias (learns and applies the residual buoyancy force)

◆ buoyancy_gain

double ControllerConfig::buoyancy_gain = 0.0

Scalar weight applied to the buoyancy compensation force contribution.

◆ fb_gain

double ControllerConfig::fb_gain = 1.0

Scalar weight applied to the feedback (PID) force contribution.

◆ ff_gain

double ControllerConfig::ff_gain = 0.0

Scalar weight applied to the feed-forward force contribution.

◆ Kd

Array6d ControllerConfig::Kd = Array6d::Zero()

Derivative PID gains for underwater operation.

◆ Kd_surface

Array6d ControllerConfig::Kd_surface = Array6d::Zero()

Derivative PID gains used when the vehicle is near the surface.

◆ Ki

Array6d ControllerConfig::Ki = Array6d::Zero()

Integral PID gains for underwater operation.

◆ Ki_surface

Array6d ControllerConfig::Ki_surface = Array6d::Zero()

Integral PID gains used when the vehicle is near the surface.

◆ Kp

Array6d ControllerConfig::Kp = Array6d::Zero()

Proportional PID gains for underwater operation.

◆ Kp_surface

Array6d ControllerConfig::Kp_surface = Array6d::Zero()

Proportional PID gains used when the vehicle is near the surface.

◆ surface_gain_scheduling

bool ControllerConfig::surface_gain_scheduling = false

Enables switching between surface and underwater PID gains based on depth.

◆ surface_threshold

double ControllerConfig::surface_threshold = 0.1

Depth threshold in metres below which surface gains are applied.

The documentation for this struct was generated from the following file:

include/controller/ControllerConfig.h

Public Attributes