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| # MRS UAV Managers | ||
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| > :warning: **Attention please: This README is outdated.** | ||
| > | ||
| > The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid. | ||
| This package contains *high-level* flight managers. | ||
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| ## ControlManager | ||
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| * integrates the control and tracking part of the MRS UAV pipeline | ||
| * dynamically loads [feedback controllers](https://github.com/ctu-mrs/mrs_uav_controllers) and [reference trackers](https://github.com/ctu-mrs/mrs_uav_trackers) plugins | ||
| * subscribes to the estimated UAV state and provides it to all loaded trackers and controllers | ||
| * runs the iteration of the currently active controller and tracker with every received state estimator message | ||
| * outputs the attitude control command to the [HW API](https://github.com/ctu-mrs/mrs_uav_hw_api) | ||
| * provides constraints to [trackers](https://github.com/ctu-mrs/mrs_uav_trackers) through a common interface | ||
| * allows in-mid-air switching of [feedback controllers](https://github.com/ctu-mrs/mrs_uav_controllers) and [reference trackers](https://github.com/ctu-mrs/mrs_uav_trackers) | ||
| * provides common services for | ||
| * setting a **reference** | ||
| * setting a **trajectory reference** | ||
| * human-callable **goto**, **goto relative**, **goto altitude**, **set heading** and **set relative heading** | ||
| * **hover** | ||
| * **emergency hover** after which most of the provided services are disabled | ||
| * **emergency landing** - switches to emergency controller and tracker and lands as fast as possible | ||
| * **failsafe landing** - feedforward landing, only effective in small heights and low speeds | ||
| * **escalating failsafe** - the measures escalate when calling it repeatedly | ||
| 1. emergency hover | ||
| 2. emergency landing | ||
| 3. failsafe landing | ||
| 4. disarm | ||
| * transforming references and vectors between frames | ||
| * verifying that references are inside of the allowed safety area | ||
| * provides safety routines for checking | ||
| * position control error | ||
| * tilt control error | ||
| * yaw control error | ||
| * estimator innovation error | ||
| * missing estimator data | ||
| * the validity of desired references | ||
| * allows controlling the UAV using a ROS-compatible joystick | ||
| * allows controlling the UAV using **RC** through our pipeline | ||
| * the RC channels are picked up from [HW API](https://github.com/ctu-mrs/mrs_uav_hw_api) | ||
| * a relative reference is generated for the active tracker | ||
| * **escalating failsafe** can be triggered by a dedicated switch | ||
| * provides an **obstacle bumper** feature | ||
| * has priority over user-provided references | ||
| * for slow-flight only | ||
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| ## UavManager | ||
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| * handles takeoff from the *high-level* | ||
| * checks for pre-condition which might result in takeoff failure | ||
| * switches to the right tracker and controller for the takeoff | ||
| * triggers takeoff | ||
| * switches to the right tracker and controller after the takeoff | ||
| * handles a regular landing from the *high-level* | ||
| * descends to a landing height (~2.0 m) using the currently active tracker and controller, given the current constraints | ||
| * switches to the right tracker and controller for the landing | ||
| * triggers the landing | ||
| * monitors the thrust output and decides when the UAV touched the ground | ||
| * provides a **land home** feature | ||
| * the UAV flies in the current altitude to its **takeoff** location and lands | ||
| * provides a **land there** feature | ||
| * the UAV flies to the desired position at which it lands | ||
| * monitors exceeding the **maximum altitude** | ||
| * triggers a priority descend if it exceeds the safety area ceiling | ||
| * monitors exceeding the **maximum thrust** | ||
| * triggers a landing if it exceeds a limit | ||
| * provides a **flight timer** | ||
| * triggers a landing if it exceeds a limit | ||
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| ## ConstraintManager | ||
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| * stores and provides sets of dynamics constraints for the [trackers](https://github.com/ctu-mrs/mrs_uav_trackers) | ||
| * allows mapping each set of constraints to only some state estimators | ||
| * automatically switches to a fallback set of constraints if the current ones are not allowed | ||
| * provides a service for switching to a desired set of constraints | ||
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| ## GainManager | ||
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| * stores and provides sets of gains for the [Se3Controller](https://github.com/ctu-mrs/mrs_uav_controllers) | ||
| * allows mapping each set of gains to only some state estimators | ||
| * automatically switches to a fallback set of gains if the current ones are not allowed | ||
| * provides a service for switching to a desired set of gains | ||
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| ## EstimationManager | ||
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| * provides the state estimation of the UAV | ||
| * dynamically loads default [state estimator](https://github.com/ctu-mrs/mrs_uav_state_estimators) or custom user-made plugins | ||
| * publishes following topics: | ||
| * the `uav_state` topic that is used for feedback control in ControlManager | ||
| * **velocities in `uav_state` are in the `headed/frame_id` frame!!** | ||
| * visualizable `odom` topic | ||
| * **velocities in `odom` are in the `child_frame_id` frame!! (follows the ROS convention for `nav_msgs/Odometry` msg)** | ||
| * current UAV height above terrain on topic `height_agl` (if available) | ||
| * maximum height above terrain that the UAV can fly in (based on the current estimator used for control) | ||
| * provides common services for | ||
| * switching of state estimator currently used in control feedback | ||
| * checks health of current state estimator and switches to a healthy one in case current estimator becomes unhealthy | ||
| * if no estimator is healthy, calls failsafe landing | ||
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| ## TransformManager | ||
| * provides the following default TFs from the `fcu` frame (can be turned off/on or renamed by custom configs): | ||
| * `fcu_untilted_origin`, `world_origin`, `local_origin`, `stable_origin`, `fixed_origin`, `utm_origin`, `mapping_origin_tf` (if a SLAM algorithm is running) | ||
| * publishes the delay of odometry produced by a SLAM algorithm (if available) on topic `map_delay` | ||
| * additionally can provide custom TFs from `nav_msgs/Odometry` topics by adding them to the `tf_sources` array in custom config | ||
| * the msg can also be republished in another frame by adding the `frame_id` to the `republish_in_frames` array | ||
| Please follow to the [documentation page](https://ctu-mrs.github.io/docs/features/managers/). |