Thruster Controllers

This package provides a collection of chainable thruster controllers, which compute a hardware-level command (e.g., a PWM) that tracks a thruster reference signal.

Polynomial Thrust Curve Controller

A Chainable controller that calculates the PWM command required to track a thrust reference using an N-degree polynomial thrust curve.

Plugin Library

thruster_controllers/polynomial_thrust_curve_controller

References

The input to this controller is thrust [double].

Commands

The output of this controller is the PWM value required by the thruster to perform the action [double].

Subscribers

polynomial_thrust_curve_controller/reference [std_msgs::msg::Float64]

Publishers

polynomial_thrust_curve_controller/status [control_msgs::msg::SingleDOFStateStamped]

Parameters

• thruster: The name of the thruster. [string]
• thrust_curve_coefficients: The thrust-to-PWM curve polynomial coefficients. These should be provided in the order of the lowest degree to the highest degree. [double array]
• min_thrust: The minimum thrust that can be produced by the thruster. [double]
• max_thrust: The maximum thrust that can be produced by the thruster. [double]
• min_deadband_pwm: The minimum PWM value in the deadband range for the thruster. [int]
• max_deadband_pwm: The maximum PWM value in the deadband range for the thruster. [int]
• neutral_pwm: A safe PWM value that is known to apply zero thrust. [int]