Rodrigo Gikas / CrazyflieController

Crazyflie 2.0 Controller

Dependents:   Drone_Controlador_Atitude

VerticalEstimator/VerticalEstimator.h@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 #ifndef VerticalEstimator_h
IgneousGuikas 2:9e07bed8e8ed 2 #define VerticalEstimator_h
IgneousGuikas 2:9e07bed8e8ed 3
IgneousGuikas 2:9e07bed8e8ed 4 #include "mbed.h"
IgneousGuikas 2:9e07bed8e8ed 5 #include "Parameters.h"
IgneousGuikas 2:9e07bed8e8ed 6 #include "VL53L0X.h"
IgneousGuikas 2:9e07bed8e8ed 7
IgneousGuikas 2:9e07bed8e8ed 8 // Vertical estimator class
IgneousGuikas 2:9e07bed8e8ed 9 class VerticalEstimator
IgneousGuikas 2:9e07bed8e8ed 10 {
IgneousGuikas 2:9e07bed8e8ed 11 public:
IgneousGuikas 2:9e07bed8e8ed 12 // Class constructor
IgneousGuikas 2:9e07bed8e8ed 13 VerticalEstimator();
IgneousGuikas 2:9e07bed8e8ed 14 // Initialize class
IgneousGuikas 2:9e07bed8e8ed 15 void init();
IgneousGuikas 2:9e07bed8e8ed 16 // Predict vertical position and velocity from model
IgneousGuikas 2:9e07bed8e8ed 17 void predict();
IgneousGuikas 2:9e07bed8e8ed 18 // Correct vertical position and velocity with measurement
IgneousGuikas 2:9e07bed8e8ed 19 void correct(float phi,float theta);
IgneousGuikas 2:9e07bed8e8ed 20 // Vertical position (m) and velocity (m/s) estimation
IgneousGuikas 2:9e07bed8e8ed 21 float z,w;
IgneousGuikas 2:9e07bed8e8ed 22 private:
IgneousGuikas 2:9e07bed8e8ed 23 // Range sensor object
IgneousGuikas 2:9e07bed8e8ed 24 VL53L0X range;
IgneousGuikas 2:9e07bed8e8ed 25 // Last vertical position (m) measurement
IgneousGuikas 2:9e07bed8e8ed 26 float z_m_last;
IgneousGuikas 2:9e07bed8e8ed 27 };
IgneousGuikas 2:9e07bed8e8ed 28
IgneousGuikas 2:9e07bed8e8ed 29 #endif