Diff: VerticalEstimator/VerticalEstimator.h

Revision:

2:9e07bed8e8ed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VerticalEstimator/VerticalEstimator.h	Wed Nov 21 10:46:29 2018 +0000
@@ -0,0 +1,29 @@
+#ifndef VerticalEstimator_h
+#define VerticalEstimator_h
+
+#include "mbed.h"
+#include "Parameters.h"
+#include "VL53L0X.h"
+
+// Vertical estimator class
+class VerticalEstimator
+{
+    public:
+        // Class constructor
+        VerticalEstimator();
+        // Initialize class
+        void init();
+        // Predict vertical position and velocity from model
+        void predict();
+        // Correct vertical position and velocity with measurement
+        void correct(float phi,float theta);
+        // Vertical position (m) and velocity (m/s) estimation
+        float z,w;
+    private:
+        // Range sensor object
+        VL53L0X range;
+        // Last vertical position (m) measurement
+        float z_m_last;
+};
+
+#endif
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