Rodrigo Gikas / CrazyflieController

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Dependents:   Drone_Controlador_Atitude

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Show/hide line numbers HorizontalController.cpp Source File

HorizontalController.cpp

00001 #include "mbed.h"
00002 #include "HorizontalController.h"
00003 
00004 HorizontalController::HorizontalController()
00005 {
00006     phi_r = 0.0f;
00007     theta_r = 0.0f;
00008 }
00009 
00010 void HorizontalController::control(float x_r, float y_r, float x, float y, float u, float v)
00011 {
00012     phi_r = control_single(y_r, y, v, y_kp, y_kd)/(-g);
00013     theta_r = control_single(x_r, x, u, x_kp, x_kd)/g;
00014 }
00015 
00016 float HorizontalController::control_single(float pos_r, float pos, float vel, float kp, float kd)
00017 {
00018     return kp*(pos_r - pos) - kd*vel;
00019 }
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