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

Committer:
danstrider
Date:
2017-10-23
Revision:
10:085ab7328054
Parent:
9:d5fcdcb3c89d
Child:
87:6d95f853dab3

File content as of revision 10:085ab7328054:

#ifndef POSVELFILTER_H
#define POSVELFILTER_H

#include "mbed.h"

class PosVelFilter
{
public:
    PosVelFilter();
    
    void update(float deltaT, float counts);
    
    void init();
    
    float getPosition();
    float getVelocity();
    float getDt();
    
    void writeWn(float wn);
    
protected:
    float x1;
    float x2;
    float x2_dot;
    float x1_dot;
    float w_n; 
    
    float dt;
    float position;
    float velocity;
};

#endif