AirplaneOdometryModel3D Class Reference

IOdometryModel3D implementation for fixed-wing airplanes using control surface and throttle inputs. More...

#include <AirplaneOdometryModel3D.h>

Inheritance diagram for AirplaneOdometryModel3D:

Collaboration diagram for AirplaneOdometryModel3D:

Public Member Functions
void	registerCallback (void(*callback)(void *), void *userData) override
	Register a callback to be invoked on relevant events (e.g., input change).
	AirplaneOdometryModel3D (float maxSpeed=30.0f, float maxRollRate=57.0f, float maxPitchRate=40.0f, float maxYawRate=29.0f)
	Construct an AirplaneOdometryModel3D with configurable max rates.
bool	onMessage (const Message< float > &msg)
	Handle incoming control messages to set airplane control surfaces and throttle. Supports MessageContent::Throttle, Roll, Pitch, Yaw (float values).
void	setThrottle (float percent)
void	setAileron (float deg)
void	setElevator (float deg)
void	setRudder (float deg)
void	getLinearVelocity (float &vx, float &vy, float &vz) const override
	Get the current linear velocity (vx, vy, vz) in m/s (robot frame).
void	getAngularVelocity (float &wx, float &wy, float &wz) const override
	Get the current angular velocity (wx, wy, wz) in rad/s (robot frame).
virtual void	registerCallback (void(*callback)(void *), void *userData)
	Register a callback to be invoked on relevant events (e.g., input change, update).
virtual void	getLinearVelocity (float &vx, float &vy, float &vz) const =0
	Get the current linear velocity (vx, vy, vz) in m/s (robot frame).
virtual void	getAngularVelocity (float &wx, float &wy, float &wz) const =0
	Get the current angular velocity (wx, wy, wz) in rad/s (robot frame).
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)

Static Protected Member Functions
static float	clamp (float v, float min, float max)

Protected Attributes
void(*	callback )(void *) = nullptr
void *	userData = nullptr
float	throttlePercent
float	aileronDeg
float	elevatorDeg
float	rudderDeg
float	maxSpeed
float	maxRollRate
float	maxPitchRate
float	maxYawRate

Detailed Description

IOdometryModel3D implementation for fixed-wing airplanes using control surface and throttle inputs.

This model computes linear and angular velocities for a fixed-wing airplane based on control inputs:

• Throttle (0..100%): Sets forward speed as a percentage of maxSpeed.
• Aileron (degrees, typically -45..45): Sets roll rate as a fraction of maxRollRate.
• Elevator (degrees, typically -45..45): Sets pitch rate as a fraction of maxPitchRate.
• Rudder (degrees, typically -45..45): Sets yaw rate as a fraction of maxYawRate.

Features

• Maps control surface deflections and throttle to body-frame velocities for odometry integration.
• Supports message-driven control via onMessage() (handles MessageContent::Throttle, Roll, Pitch, Yaw).
• All input values are clamped to safe ranges.
• Suitable for simulation, estimation, or as a reference model for real-time control.

Usage Example

AirplaneOdometryModel3D model;
model.setThrottle(80);      // 80% throttle
model.setAileron(10);       // 10 degrees right aileron
model.setElevator(-5);      // 5 degrees down elevator
model.setRudder(0);         // Centered rudder
float vx, vy, vz, wx, wy, wz;
model.getLinearVelocity(vx, vy, vz);
model.getAngularVelocity(wx, wy, wz);
// vx will be 0.8 * maxSpeed, wx will be 10/45 * maxRollRate, etc.

Message Integration

The model can be updated from messages (e.g., from an RC receiver or autopilot):

Message<float> msg;
msg.content = MessageContent::Throttle;
msg.value = 75;
model.onMessage(msg); // Sets throttle to 75%

Constructor & Destructor Documentation

AirplaneOdometryModel3D()

AirplaneOdometryModel3D ( float  maxSpeed = 30.0f, float  maxRollRate = 57.0f, float  maxPitchRate = 40.0f, float  maxYawRate = 29.0f  )

inline

Construct an AirplaneOdometryModel3D with configurable max rates.

Parameters

maxSpeed	Maximum forward speed (m/s). Typical: 20–40 m/s for small UAVs.
maxRollRate	Maximum roll rate (deg/s). Typical: 40–85 deg/s (converted to rad/s internally).
maxPitchRate	Maximum pitch rate (deg/s). Typical: 30–60 deg/s (converted to rad/s internally).
maxYawRate	Maximum yaw rate (deg/s). Typical: 17–40 deg/s (converted to rad/s internally).

These values should be set to match the physical or simulated aircraft's limits. For most fixed-wing RC airplanes:

• maxSpeed: 25–35 m/s (90–125 km/h)
• maxRollRate: 57 deg/s
• maxPitchRate: 40 deg/s
• maxYawRate: 29 deg/s

Note: The constructor will convert the rates from deg/s to rad/s for internal use. Example: AirplaneOdometryModel3D(30.0f, 57.0f, 40.0f, 29.0f); // 30 m/s, 57°/s, 40°/s, 29°/s

Member Function Documentation

getAngularVelocity()

void getAngularVelocity ( float &  wx, float &  wy, float &  wz  ) const

inlineoverridevirtual

Get the current angular velocity (wx, wy, wz) in rad/s (robot frame).

Implements IOdometryModel3D.

getLinearVelocity()

void getLinearVelocity ( float &  vx, float &  vy, float &  vz  ) const

inlineoverridevirtual

Get the current linear velocity (vx, vy, vz) in m/s (robot frame).

Implements IOdometryModel3D.

onMessage()

bool onMessage ( const Message< float > &  msg )

inlinevirtual

Handle incoming control messages to set airplane control surfaces and throttle. Supports MessageContent::Throttle, Roll, Pitch, Yaw (float values).

Returns

true if message was handled

Implements MessageHandler.

registerCallback()

void registerCallback ( void(*)(void *)  callback, void *  userData  )

inlineoverridevirtual

Register a callback to be invoked on relevant events (e.g., input change).

Reimplemented from IOdometryModel3D.

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

• src/TinyRobotics/odometry/AirplaneOdometryModel3D.h