Flying Sea Glider
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
Diff: PosVelFilter/PosVelFilter.hpp
- Revision:
- 9:d5fcdcb3c89d
- Child:
- 10:085ab7328054
diff -r 70412939a506 -r d5fcdcb3c89d PosVelFilter/PosVelFilter.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PosVelFilter/PosVelFilter.hpp Fri Oct 20 11:41:22 2017 +0000
@@ -0,0 +1,42 @@
+#ifndef MBED_DEPTHFILTER_H
+#define MBED_DEPTHFILTER_H
+
+#include "mbed.h"
+
+class PosVelFilter
+{
+public:
+ PosVelFilter();
+
+ void update(float deltaT, float counts);
+
+ void init();
+
+ float getPosition();
+ float getVelocity();
+ float getDt();
+
+ // void setConfigFlag();
+ void writeWn(float wn);
+
+protected:
+ float x1;
+ float x2;
+ float x2_dot;
+ float x1_dot;
+ float w_n;
+
+ //float last_time;
+ //float curr_time;
+ float dt;
+
+ float conv_distance;
+ float position;
+ float velocity;
+
+ // bool readConfiguration();
+ // bool configFlag;
+ // int count;
+};
+
+#endif
\ No newline at end of file