Controller Class Reference

Public Member Functions
void	ctrlTickFunction (pointers *pointer_struct)
bool	ActiveControl_ON ()
	Determines whether it's safe for flaps to actuate. Does this based on FSM state. More...
	Controller (struct pointers *pointer_struct, PWMServo *controller_servo)
void	setLaunchPadElevation ()
	Initializes launchpad elevation through barometer measurement. More...

Public Attributes
PWMServo *	controller_servo_
mutex_t *	dataMutex_state_
stateData *	stateData_
rk4	rk4_
float	kp = 0.00008
float	min_extension = -2.0 / 1000.0
float	max_extension = 17.88 / 1000.0
float	dt = .006
float	prev_u = 0
float	du_max = 0.01
float	launch_pad_alt
float	apogee_des_msl
float	apogee_des_agl = 3962
float *	b_alt
mutex_t *	dataMutex_barometer_
RocketFSM::FSM_State *	current_state
ServoControl	activeControlServos

Member Function Documentation

ActiveControl_ON()

bool Controller::ActiveControl_ON

(

)

Determines whether it's safe for flaps to actuate. Does this based on FSM state.

Returns

boolean depending on whether flaps should actuate or not

setLaunchPadElevation()

void Controller::setLaunchPadElevation

(

)

Initializes launchpad elevation through barometer measurement.

This method takes a series of barometer measurements on start up and takes the average of them in order to initialize the target altitude to a set value above ground level. Hard coding a launch pad elevation is not a viable solution to this problem as the Kalman filter which is the data input to the controller uses barometric altitude as its reference frame. This is equivalent to determining the barometric pressure at an airport and using it to calibrate an aircraft's onboard altimeter.

The function takes an average of 30 measurements, each made 100 ms apart

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

• flight/mcu/lib/teensyShared/ActiveControl.h
• flight/mcu/lib/teensyShared/ActiveControl.cpp