Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
HorizontalController/HorizontalController.h@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
fbob | 8:d05fe9f8bfb6 | 1 | #ifndef HorizontalController_h |
fbob | 8:d05fe9f8bfb6 | 2 | #define HorizontalController_h |
fbob | 8:d05fe9f8bfb6 | 3 | |
fbob | 8:d05fe9f8bfb6 | 4 | #include "mbed.h" |
fbob | 8:d05fe9f8bfb6 | 5 | #include "Parameters.h" |
fbob | 8:d05fe9f8bfb6 | 6 | |
fbob | 8:d05fe9f8bfb6 | 7 | class HorizontalController |
fbob | 8:d05fe9f8bfb6 | 8 | { |
fbob | 8:d05fe9f8bfb6 | 9 | public: |
fbob | 8:d05fe9f8bfb6 | 10 | // Class constructor |
fbob | 8:d05fe9f8bfb6 | 11 | HorizontalController(); |
fbob | 8:d05fe9f8bfb6 | 12 | // |
fbob | 16:54d2f299e404 | 13 | void control(float u_r, float v_r, float u, float v); |
fbob | 16:54d2f299e404 | 14 | // |
fbob | 16:54d2f299e404 | 15 | void control_take_off(float u_r, float v_r, float u, float v); |
fbob | 8:d05fe9f8bfb6 | 16 | // |
fbob | 8:d05fe9f8bfb6 | 17 | float phi_r, theta_r; |
fbob | 8:d05fe9f8bfb6 | 18 | private: |
fbob | 8:d05fe9f8bfb6 | 19 | // |
fbob | 8:d05fe9f8bfb6 | 20 | float control_single(float velocity_r, float velocity, float T_velocity); |
fbob | 8:d05fe9f8bfb6 | 21 | }; |
fbob | 8:d05fe9f8bfb6 | 22 | |
fbob | 8:d05fe9f8bfb6 | 23 | #endif |