GNC Class Reference

Guidance, Navigation, and Control system for the aircraft. More...

#include <gnc.h>

Collaboration diagram for GNC:

Classes
struct	TrimData

Public Member Functions
	GNC ()
void	setWaypoints (const WaypointList &waypoints)
	Set the waypoints for the navigation system.
void	update (const Aircraft &aircraft, float dt)
	Update the GNC system state.
bool	computeTrim (Aircraft &aircraft, double Va, double gamma, double R)
bool	linearizeAtTrim (Aircraft &drone)
void	computeLinearModel (Aircraft &aircraft, const Eigen::VectorXd &Xtrim, const Eigen::VectorXd &Utrim, Eigen::MatrixXd &A_full, Eigen::MatrixXd &B_full, Eigen::MatrixXd &A_lat, Eigen::MatrixXd &B_lat, Eigen::MatrixXd &A_lon, Eigen::MatrixXd &B_lon)
const TrimData &	getTrimData () const
const Eigen::MatrixXd &	getA () const
const Eigen::MatrixXd &	getB () const
const Eigen::MatrixXd &	getA_lat () const
const Eigen::MatrixXd &	getB_lat () const
const Eigen::MatrixXd &	getA_lon () const
const Eigen::MatrixXd &	getB_lon () const

Static Public Member Functions
static double	trimObjective (const std::vector< double > &angles, std::vector< double > &grad, void *data)
static Eigen::VectorXd	computeXdot (Aircraft &ac)

Private Attributes
WaypointList	waypoints_
	Current list of waypoints for navigation.
TrimData	trimData
Eigen::MatrixXd	A
Eigen::MatrixXd	B
Eigen::MatrixXd	A_lat
Eigen::MatrixXd	B_lat
Eigen::MatrixXd	A_lon
Eigen::MatrixXd	B_lon

Friends
class	Simviewer

Detailed Description

Guidance, Navigation, and Control system for the aircraft.

This class manages the navigation through a list of waypoints and updates control commands based on the current state of the aircraft.

Constructor & Destructor Documentation

GNC()

GNC::GNC

(

)

Member Function Documentation

computeLinearModel()

void GNC::computeLinearModel	(	Aircraft &	aircraft,
		const Eigen::VectorXd &	Xtrim,
		const Eigen::VectorXd &	Utrim,
		Eigen::MatrixXd &	A_full,
		Eigen::MatrixXd &	B_full,
		Eigen::MatrixXd &	A_lat,
		Eigen::MatrixXd &	B_lat,
		Eigen::MatrixXd &	A_lon,
		Eigen::MatrixXd &	B_lon
	)

computeTrim()

bool GNC::computeTrim	(	Aircraft &	aircraft,
		double	Va,
		double	gamma,
		double	R
	)

computeXdot()

Eigen::VectorXd GNC::computeXdot ( Aircraft &  ac )

static

getA()

const Eigen::MatrixXd & GNC::getA ( ) const

inline

getA_lat()

const Eigen::MatrixXd & GNC::getA_lat ( ) const

inline

getA_lon()

const Eigen::MatrixXd & GNC::getA_lon ( ) const

inline

getB()

const Eigen::MatrixXd & GNC::getB ( ) const

inline

getB_lat()

const Eigen::MatrixXd & GNC::getB_lat ( ) const

inline

getB_lon()

const Eigen::MatrixXd & GNC::getB_lon ( ) const

inline

getTrimData()

const TrimData & GNC::getTrimData ( ) const

inline

linearizeAtTrim()

bool GNC::linearizeAtTrim

(

Aircraft &

drone

)

setWaypoints()

void GNC::setWaypoints

(

const WaypointList &

waypoints

)

Set the waypoints for the navigation system.

Set the waypoints for the GNC system.

Parameters

waypoints	The list of waypoints to follow.
waypoints	The list of waypoints to navigate.

trimObjective()

double GNC::trimObjective ( const std::vector< double > &  angles, std::vector< double > &  grad, void *  data  )

static

update()

void GNC::update	(	const Aircraft &	aircraft,
		float	dt
	)

Update the GNC system state.

Update the GNC system with the current aircraft state.

This function should be called every simulation step and will process the aircraft state to produce new control commands.

Parameters

aircraft	The current state of the aircraft.
dt	Time step in seconds.

This function processes the aircraft's current position and determines navigation commands based on the active waypoint. If the aircraft is close enough to the current waypoint, it automatically advances to the next.

Parameters

aircraft	Current aircraft state.
dt	Time step duration in seconds.

Friends And Related Symbol Documentation

Simviewer

friend class Simviewer

friend

Member Data Documentation

A

Eigen::MatrixXd GNC::A

private

A_lat

Eigen::MatrixXd GNC::A_lat

private

A_lon

Eigen::MatrixXd GNC::A_lon

private

B

Eigen::MatrixXd GNC::B

private

B_lat

Eigen::MatrixXd GNC::B_lat

private

B_lon

Eigen::MatrixXd GNC::B_lon

private

trimData

TrimData GNC::trimData

private

waypoints_

WaypointList GNC::waypoints_

private

Current list of waypoints for navigation.

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

• include/gnc/gnc.h
• src/gnc/gnc.cpp