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QuadrotorParams

rust_robotics_control::racing_mppi_quadrotor

Struct QuadrotorParams 

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pub struct QuadrotorParams {
    pub gravity: f64,
    pub drag: f64,
    pub min_thrust: f64,
    pub max_thrust: f64,
    pub max_body_rate: f64,
    pub max_speed: f64,
}
Expand description

Quadrotor rigid-body parameters and actuation limits.

Translational dynamics are semi-implicit: the collective thrust along the current body z-axis, minus gravity and linear drag, updates the velocity, the speed is capped, and the position integrates the new velocity. Attitude is integrated from the commanded body rates and renormalized each step.

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§gravity: f64

Downward gravitational acceleration [m/s^2].

§drag: f64

Linear aerodynamic drag coefficient [1/s].

§min_thrust: f64

Minimum mass-normalized collective thrust [m/s^2].

§max_thrust: f64

Maximum mass-normalized collective thrust [m/s^2].

§max_body_rate: f64

Maximum body-rate magnitude [rad/s].

§max_speed: f64

Maximum speed [m/s] the body can reach.

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impl QuadrotorParams

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pub fn new( gravity: f64, drag: f64, min_thrust: f64, max_thrust: f64, max_body_rate: f64, max_speed: f64, ) -> RoboticsResult<Self>

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pub fn saturate(self, control: QuadrotorControl) -> QuadrotorControl

Clamp a command to the thrust and body-rate limits.

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pub fn step( self, state: QuadrotorState, control: QuadrotorControl, dt: f64, ) -> QuadrotorState

Advance the quadrotor one step under the commanded thrust and body rates.

Trait Implementations§

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impl Clone for QuadrotorParams

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fn clone(&self) -> QuadrotorParams

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for QuadrotorParams

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl Default for QuadrotorParams

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl PartialEq for QuadrotorParams

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fn eq(&self, other: &QuadrotorParams) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Copy for QuadrotorParams

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impl StructuralPartialEq for QuadrotorParams

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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