CustomCtrl Project

Overview

The customCtrl project provides a framework for developing custom controllers for UAVs based on FlAIR. It includes a skeleton structure for the project, with myCtrl containing a customizable controller. In this example, the controller implements a PD-based position controller (with gravity compensation) and an PD attitude controller. The project also includes utilities for controller saturation and motor constant conversion. The example task is derived from the CircleFollower demo.

File structure

• uav/src/customCtrl: This class contains the skeleton of the project.
• uav/src/myCtrl: This class defines the customized controller.

About Building the Project

You can build this template by following the instructions in the section below (strongly recommended) or by following the instructions in the FlAIR Wiki: https://gitlab.utc.fr/uav-hds/flair/flair-src/-/wikis/build-system. By default, the project is named customCtrl.

If you want to rename it, you can clone this folder using the instructions in the FlAIR Wiki for cloning a demo: https://gitlab.utc.fr/uav-hds/flair/flair-src/-/wikis/demos/clone. This allows you to clone the project and set a custom source directory name.

VS Code & CLion Setup

This project includes a setup script setup4vscode.sh to generate configurations (CMakePresets, IntelliSense, etc.) for VS Code and CLion.

Usage

Run the script from the project root:

chmod +x setup4vscode.sh
./setup4vscode.sh [options]

Options

• -f <path>: (Optional) Specify a relative path inside flair-build for build artifacts. This allows you to control the exact structure of your build output directory.
  • Default: mysrc/${sourceDirName}
  • Example:

    ./setup4vscode.sh -f custom_path/my_test

    This will configure the build output to be flair-build/custom_path/my_test.