Fabio Bobrow / CrazyflieController

Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer

Parameters/Parameters.h@9:15058b4fa090, 2018-09-28 (annotated)

Committer:
fbob
Date:
Fri Sep 28 15:08:41 2018 +0000
Revision:
9:15058b4fa090
Parent:
8:d05fe9f8bfb6
Child:
11:fad579538b4c
Vertical estimator improvements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 5:b9947e3d20cf 1 #ifndef Parameters_h
fbob 5:b9947e3d20cf 2 #define Parameters_h
fbob 5:b9947e3d20cf 3
fbob 9:15058b4fa090 4 // Attitude and position interrupt frequencies
fbob 9:15058b4fa090 5 const float f_att = 200.0f; // Hz
fbob 9:15058b4fa090 6 const float f_pos = 20.0f; // Hz
fbob 9:15058b4fa090 7 const float dt_att = 1.0f/f_att; // s
fbob 9:15058b4fa090 8 const float dt_pos = 1.0f/f_pos; // s
fbob 9:15058b4fa090 9
fbob 5:b9947e3d20cf 10 // Motor constants
fbob 5:b9947e3d20cf 11 const float alpha = 1.16e-07f;
fbob 5:b9947e3d20cf 12 const float beta = 7.149e-10f;
fbob 5:b9947e3d20cf 13
fbob 5:b9947e3d20cf 14 // Propeller constants
fbob 9:15058b4fa090 15 const float kl = 1.726e-08f; // N.s^2/rad^2
fbob 9:15058b4fa090 16 const float kd = 1.426e-10f; // N.m.s^2/rad^2
fbob 5:b9947e3d20cf 17
fbob 5:b9947e3d20cf 18 // Quadcopter dimensions
fbob 9:15058b4fa090 19 const float l = 0.033f; // m
fbob 9:15058b4fa090 20 const float m = 0.030f; // kg
fbob 9:15058b4fa090 21 const float I_xx = 16.0e-6f; // kg.m^2
fbob 9:15058b4fa090 22 const float I_yy = 16.0e-6f; // kg.m^2
fbob 9:15058b4fa090 23 const float I_zz = 29.0e-6f; // kg.m^2
fbob 5:b9947e3d20cf 24
fbob 9:15058b4fa090 25 // Gravity constant
fbob 9:15058b4fa090 26 const float g = 9.81f; // m/s^2
fbob 7:220ce3839be8 27
fbob 9:15058b4fa090 28 // Attitude estimator weighthing (accelerometer X gyroscope)
fbob 5:b9947e3d20cf 29 const float rho = 0.02f;
fbob 5:b9947e3d20cf 30
fbob 5:b9947e3d20cf 31 // Attitude controller time constants
fbob 9:15058b4fa090 32 const float T_phi = 0.12f; // s
fbob 9:15058b4fa090 33 const float T_theta = 0.12f; // s
fbob 9:15058b4fa090 34 const float T_psi = 0.2f; // s
fbob 9:15058b4fa090 35 const float T_p = 0.04f; // s
fbob 9:15058b4fa090 36 const float T_q = 0.04f; // s
fbob 9:15058b4fa090 37 const float T_r = 0.1f; // s
fbob 5:b9947e3d20cf 38
fbob 9:15058b4fa090 39 // Vertical estimator weighthing (measurement X prediction)
fbob 9:15058b4fa090 40 const float rho_ver = 0.3f;
fbob 7:220ce3839be8 41
fbob 7:220ce3839be8 42 // Vertical controller time constants
fbob 7:220ce3839be8 43 const float zeta = 0.7f;
fbob 9:15058b4fa090 44 const float omega_n = 2.0f; // rad/s
fbob 7:220ce3839be8 45 const float K_z = pow(omega_n,2);
fbob 9:15058b4fa090 46 const float K_w = 2*zeta*omega_n;
fbob 9:15058b4fa090 47
fbob 9:15058b4fa090 48 // Horizontal estimator weighthing (measurement X prediction)
fbob 9:15058b4fa090 49 const float rho_hor = 0.1f;
fbob 8:d05fe9f8bfb6 50
fbob 8:d05fe9f8bfb6 51 // Horizontal controller time constants
fbob 8:d05fe9f8bfb6 52 const float T_u = 2.0f;
fbob 8:d05fe9f8bfb6 53 const float T_v = 2.0f;
fbob 7:220ce3839be8 54
fbob 6:3188b00263e8 55 #endif