Fabio Bobrow / CrazyflieController

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

HorizontalController/HorizontalController.cpp@16:54d2f299e404, 2018-10-05 (annotated)

Committer:
fbob
Date:
Fri Oct 05 13:19:03 2018 +0000
Revision:
16:54d2f299e404
Parent:
15:155ca63b7884
Child:
17:f682b4a5686d
Take off

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 8:d05fe9f8bfb6 1 #include "mbed.h"
fbob 8:d05fe9f8bfb6 2 #include "HorizontalController.h"
fbob 8:d05fe9f8bfb6 3
fbob 8:d05fe9f8bfb6 4 // Class constructor
fbob 8:d05fe9f8bfb6 5 HorizontalController::HorizontalController()
fbob 8:d05fe9f8bfb6 6 {
fbob 15:155ca63b7884 7 phi_r = 0.0f;
fbob 15:155ca63b7884 8 theta_r = 0.0f;
fbob 8:d05fe9f8bfb6 9 }
fbob 8:d05fe9f8bfb6 10
fbob 16:54d2f299e404 11 //
fbob 8:d05fe9f8bfb6 12 void HorizontalController::control(float u_r, float v_r, float u, float v)
fbob 8:d05fe9f8bfb6 13 {
fbob 16:54d2f299e404 14 phi_r = -control_single(v_r,v,T_v)/g;
fbob 8:d05fe9f8bfb6 15 theta_r = control_single(u_r,u,T_u)/g;
fbob 16:54d2f299e404 16 }
fbob 15:155ca63b7884 17
fbob 15:155ca63b7884 18 //
fbob 16:54d2f299e404 19 void HorizontalController::control_take_off(float u_r, float v_r, float u, float v)
fbob 15:155ca63b7884 20 {
fbob 16:54d2f299e404 21 phi_r = -control_single(v_r,v,T_v_take_off)/g;
fbob 16:54d2f299e404 22 theta_r = control_single(u_r,u,T_u_take_off)/g;
fbob 8:d05fe9f8bfb6 23 }
fbob 8:d05fe9f8bfb6 24
fbob 8:d05fe9f8bfb6 25 //
fbob 8:d05fe9f8bfb6 26 float HorizontalController::control_single(float velocity_r, float velocity, float T_velocity)
fbob 8:d05fe9f8bfb6 27 {
fbob 8:d05fe9f8bfb6 28 return (1.0f/T_velocity)*(velocity_r-velocity);
fbob 8:d05fe9f8bfb6 29 }