Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
VerticalController/VerticalController.h@7:220ce3839be8, 2018-09-27 (annotated)
- Committer:
- fbob
- Date:
- Thu Sep 27 17:50:16 2018 +0000
- Revision:
- 7:220ce3839be8
- Child:
- 15:155ca63b7884
Vertical estimator
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| fbob | 7:220ce3839be8 | 1 | #ifndef VerticalController_h |
| fbob | 7:220ce3839be8 | 2 | #define VerticalController_h |
| fbob | 7:220ce3839be8 | 3 | |
| fbob | 7:220ce3839be8 | 4 | #include "mbed.h" |
| fbob | 7:220ce3839be8 | 5 | #include "Parameters.h" |
| fbob | 7:220ce3839be8 | 6 | |
| fbob | 7:220ce3839be8 | 7 | class VerticalController |
| fbob | 7:220ce3839be8 | 8 | { |
| fbob | 7:220ce3839be8 | 9 | public: |
| fbob | 7:220ce3839be8 | 10 | // Class constructor |
| fbob | 7:220ce3839be8 | 11 | VerticalController(); |
| fbob | 7:220ce3839be8 | 12 | // Control thrust force (N) given vertical position (m) and velocity (m/s) |
| fbob | 7:220ce3839be8 | 13 | void control(float z_r, float z, float w); |
| fbob | 7:220ce3839be8 | 14 | // Thrust force (N) |
| fbob | 7:220ce3839be8 | 15 | float f_t; |
| fbob | 7:220ce3839be8 | 16 | }; |
| fbob | 7:220ce3839be8 | 17 | |
| fbob | 7:220ce3839be8 | 18 | #endif |