Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

PosVelFilter/PosVelFilter.hpp@10:085ab7328054, 2017-10-23 (annotated)

Committer:
danstrider
Date:
Mon Oct 23 12:50:53 2017 +0000
Revision:
10:085ab7328054
Parent:
9:d5fcdcb3c89d
Child:
87:6d95f853dab3
checked out on the hardware

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 #ifndef POSVELFILTER_H
danstrider 10:085ab7328054 2 #define POSVELFILTER_H
mkelly10 9:d5fcdcb3c89d 3
mkelly10 9:d5fcdcb3c89d 4 #include "mbed.h"
mkelly10 9:d5fcdcb3c89d 5
mkelly10 9:d5fcdcb3c89d 6 class PosVelFilter
mkelly10 9:d5fcdcb3c89d 7 {
mkelly10 9:d5fcdcb3c89d 8 public:
mkelly10 9:d5fcdcb3c89d 9 PosVelFilter();
mkelly10 9:d5fcdcb3c89d 10
mkelly10 9:d5fcdcb3c89d 11 void update(float deltaT, float counts);
mkelly10 9:d5fcdcb3c89d 12
mkelly10 9:d5fcdcb3c89d 13 void init();
mkelly10 9:d5fcdcb3c89d 14
mkelly10 9:d5fcdcb3c89d 15 float getPosition();
mkelly10 9:d5fcdcb3c89d 16 float getVelocity();
mkelly10 9:d5fcdcb3c89d 17 float getDt();
mkelly10 9:d5fcdcb3c89d 18
mkelly10 9:d5fcdcb3c89d 19 void writeWn(float wn);
mkelly10 9:d5fcdcb3c89d 20
mkelly10 9:d5fcdcb3c89d 21 protected:
mkelly10 9:d5fcdcb3c89d 22 float x1;
mkelly10 9:d5fcdcb3c89d 23 float x2;
mkelly10 9:d5fcdcb3c89d 24 float x2_dot;
mkelly10 9:d5fcdcb3c89d 25 float x1_dot;
mkelly10 9:d5fcdcb3c89d 26 float w_n;
mkelly10 9:d5fcdcb3c89d 27
mkelly10 9:d5fcdcb3c89d 28 float dt;
mkelly10 9:d5fcdcb3c89d 29 float position;
mkelly10 9:d5fcdcb3c89d 30 float velocity;
mkelly10 9:d5fcdcb3c89d 31 };
mkelly10 9:d5fcdcb3c89d 32
mkelly10 9:d5fcdcb3c89d 33 #endif