The Pipeline Concept
The Pipeline is implemented by
Its main purpose is to sequentially execute the different components that form a typical control pipeline. It runs at a fixed rate (100 Hz by default) and executes, most typically,
First, it takes care of getting the latest valid state estimate from the
Then, it takes the active reference trajectory and uses the
samplerto create a sequence of setpoints to be tracked by the controller.
controller(inner and possibly outer loops) are run. Different types of controllers can be selected, mainly MPC, Geometric Controller or INDI. The controller outputs a low level command.
bridgetranslates the control commands to actual actuator inputs.