Rodrigo Gikas / CrazyflieController

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Dependents:   Drone_Controlador_Atitude

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Show/hide line numbers AttitudeController.h Source File

AttitudeController.h

00001 #ifndef AttitudeController_h
00002 #define AttitudeController_h
00003 
00004 #include "mbed.h"
00005 #include "Parameters.h"
00006 
00007 class AttitudeController
00008 {
00009     public:
00010         AttitudeController();
00011         
00012         void control(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi, float p, float q, float r);
00013         
00014         float tau_phi, tau_theta, tau_psi;
00015     private:
00016         
00017         float single_axis_control(float angle_r, float angle, float rate, float K_angle, float K_rate, float I);
00018 };
00019 
00020 #endif
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