Rodrigo Gikas / CrazyflieController

Crazyflie 2.0 Controller

Dependents:   Drone_Controlador_Atitude

VerticalController/VerticalController.cpp@2:9e07bed8e8ed, 2018-11-21 (annotated)

Committer:
IgneousGuikas
Date:
Wed Nov 21 10:46:29 2018 +0000
Revision:
2:9e07bed8e8ed
Teste;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IgneousGuikas 2:9e07bed8e8ed 1 #include "mbed.h"
IgneousGuikas 2:9e07bed8e8ed 2 #include "VerticalController.h"
IgneousGuikas 2:9e07bed8e8ed 3
IgneousGuikas 2:9e07bed8e8ed 4 VerticalController::VerticalController()
IgneousGuikas 2:9e07bed8e8ed 5 {
IgneousGuikas 2:9e07bed8e8ed 6 f_t = 0.0f;
IgneousGuikas 2:9e07bed8e8ed 7 }
IgneousGuikas 2:9e07bed8e8ed 8
IgneousGuikas 2:9e07bed8e8ed 9 void VerticalController::control(float z_r, float z, float w)
IgneousGuikas 2:9e07bed8e8ed 10 {
IgneousGuikas 2:9e07bed8e8ed 11 f_t = m*( z_kp*( z_r - z ) - z_kd*w + g);
IgneousGuikas 2:9e07bed8e8ed 12 }