![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
code to fly a quadrocopter
PID/PID_roll.h
- Committer:
- DD1993
- Date:
- 2020-05-05
- Revision:
- 0:b0f9c5ac0305
File content as of revision 0:b0f9c5ac0305:
#ifndef PID_ROLL_H #define PID_ROLL_H #include "mbed.h" class PID_ROLL_Class { public: PID_ROLL_Class(float AngleKp,float AngleKi, float RateKp, float RateKd); float update_roll(float Setpoint, float CurrentPosition, float Rate, float dt); private: float Angle_Kp,Angle_Ki,Rate_Kp,Rate_Kd; float AngleError,RateError; float Angle_I,Rate_D; float Output,WindUp; float PreviousError; }; #endif