Rodrigo Gikas / CrazyflieController

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Dependents:   Drone_Controlador_Atitude

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Show/hide line numbers HorizontalController.h Source File

HorizontalController.h

00001 #ifndef HorizontalController_h
00002 #define HorizontalController_h
00003 
00004 #include "mbed.h"
00005 #include "Parameters.h"
00006 
00007 class HorizontalController
00008 {
00009     public:
00010         
00011         HorizontalController();
00012         
00013         void control(float x_r, float y_r, float x, float y, float u, float v);
00014         
00015         float phi_r, theta_r;
00016     
00017     private:
00018         
00019         float control_single(float pos_r, float pos, float vel, float kp, float kd);
00020 };
00021 
00022 #endif
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