[Rock-dev] Questions/Discussion about the managing of control loopS

[Sylvain Joyeux]

There is basically two ways this can be done:
 - you reconfigure the PID controller component, meaning that you
stop/cleanup it, reload a different configuration and configure/start it
again. Be aware that you need to recreate the incoming connections
(connections to its inputs) when you do this
 - you split the various PID controllers into separate controller, and do
the reconfiguration on the transformation component (the one that does the
frame change). Same method, same caveat about the connections.

Sylvain


On Fri, Apr 25, 2014 at 10:52 AM, Vincent vittori <vittori.vincent at gmail.com
> wrote:

> Hi all,
>
> After successfully used the auv_control for depth control in simulator and
> pool test,
> I am actually right now looking for ways to have more control on those
> control loops,
> meaning that I am looking for a way to enable/disable at any time via a
> GUI a full/semi heading control / depth control etc.
>
> So far I have a cascade PID control that allows me to have a depth control
> as well as attitude control.
> The problem is that it's all done in the same PIDController task I mean
> with the same configuration file.
>
> I can't clearly see right now how I could separate those things.
>
> What would make more sense:
> - Dynamically loading different properties inside the same configuration
> files and therefore having more behaviors activated ( I think I saw that
> orocos can do that...)
> - An enabled/disabled state for the PIDController
> - etc.. (open for propositions)
>
> I will be very interested to know how you proceed with avalon for example.
> Thank you.
>
> V.v
> --
>  Vincent Vittori
> Robotic engineer MARUM
> University of Bremen
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