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@87:6d95f853dab3, 2019-05-08 (annotated)

Committer:
joel_ssc
Date:
Wed May 08 13:24:04 2019 +0000
Revision:
87:6d95f853dab3
Parent:
10:085ab7328054 
caught up all but main.cpp to 18apr version

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"
joel_ssc 87:6d95f853dab3 5 #include <deque>
joel_ssc 87:6d95f853dab3 6 #define _PI ((float) 3.14159265359)
mkelly10 9:d5fcdcb3c89d 7
mkelly10 9:d5fcdcb3c89d 8 class PosVelFilter
mkelly10 9:d5fcdcb3c89d 9 {
mkelly10 9:d5fcdcb3c89d 10 public:
mkelly10 9:d5fcdcb3c89d 11 PosVelFilter();
mkelly10 9:d5fcdcb3c89d 12
mkelly10 9:d5fcdcb3c89d 13 void update(float deltaT, float counts);
mkelly10 9:d5fcdcb3c89d 14
mkelly10 9:d5fcdcb3c89d 15 void init();
mkelly10 9:d5fcdcb3c89d 16
mkelly10 9:d5fcdcb3c89d 17 float getPosition();
mkelly10 9:d5fcdcb3c89d 18 float getVelocity();
mkelly10 9:d5fcdcb3c89d 19 float getDt();
joel_ssc 87:6d95f853dab3 20 void setHeadingFlag(bool heading_flag);
mkelly10 9:d5fcdcb3c89d 21 void writeWn(float wn);
mkelly10 9:d5fcdcb3c89d 22
mkelly10 9:d5fcdcb3c89d 23 protected:
joel_ssc 87:6d95f853dab3 24 float x1, x1c,x1s;
joel_ssc 87:6d95f853dab3 25 float x2, x2c,x2s;
joel_ssc 87:6d95f853dab3 26 float x1_dot, x1c_dot, x1s_dot;
joel_ssc 87:6d95f853dab3 27 float x2_dot, x2c_dot, x2s_dot;
mkelly10 9:d5fcdcb3c89d 28 float w_n;
joel_ssc 87:6d95f853dab3 29 float counts_c, counts_s;
mkelly10 9:d5fcdcb3c89d 30
mkelly10 9:d5fcdcb3c89d 31 float dt;
joel_ssc 87:6d95f853dab3 32 float position,pnew, position_c, position_s;
joel_ssc 87:6d95f853dab3 33 float velocity, velocity_c, velocity_s;
joel_ssc 87:6d95f853dab3 34 bool _headingFlag;
mkelly10 9:d5fcdcb3c89d 35 };
mkelly10 9:d5fcdcb3c89d 36
mkelly10 9:d5fcdcb3c89d 37 #endif