<div dir="ltr">There is basically two ways this can be done:<div> - 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</div>
<div> - 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.</div>
<div><br></div><div>Sylvain</div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Fri, Apr 25, 2014 at 10:52 AM, Vincent vittori <span dir="ltr"><<a href="mailto:vittori.vincent@gmail.com" target="_blank">vittori.vincent@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Hi all, <div><br></div><div><div style="font-family:arial,sans-serif;font-size:13px">After successfully used the auv_control for depth control in simulator and pool test, </div>
<div style="font-family:arial,sans-serif;font-size:13px">
I am actually right now looking for ways to have more control on those control loops, </div><div style="font-family:arial,sans-serif;font-size:13px">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.</div>
<div style="font-family:arial,sans-serif;font-size:13px"><br></div><div style="font-family:arial,sans-serif;font-size:13px">So far I have a cascade PID control that allows me to have a depth control as well as attitude control. <br>
The problem is that it's all done in the same PIDController task I mean with the same configuration file. <br><br>I can't clearly see right now how I could separate those things.<br><br>What would make more sense: <br>
- Dynamically loading different properties inside the same configuration files and therefore having more behaviors activated ( I think I saw that orocos can do that...) </div><div style="font-family:arial,sans-serif;font-size:13px">
- An enabled/disabled state for the PIDController </div><div style="font-family:arial,sans-serif;font-size:13px">- etc.. (open for propositions) </div><div style="font-family:arial,sans-serif;font-size:13px"><br></div><div style="font-family:arial,sans-serif;font-size:13px">
I will be very interested to know how you proceed with avalon for example. </div><div style="font-family:arial,sans-serif;font-size:13px">Thank you. </div><span class="HOEnZb"><font color="#888888"><div><br></div><div>V.v </div>
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<tbody><tr valign="top" style="line-height:15px"><td width="40%"><font size="4">Vincent Vittori</font><br><font style="font-weight:bold">Robotic engineer MARUM</font><br><span style="color:rgb(34,34,34);font-size:13px;line-height:normal">University of Bremen</span><br style="color:rgb(34,34,34);font-size:13px;line-height:normal">
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