Fabio Bobrow / CrazyflieController

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

HorizontaEstimator/HorizontalEstimator.h@24:7b9e3beb61d5, 2018-12-06 (annotated)

Committer:
fbob
Date:
Thu Dec 06 16:44:40 2018 +0000
Revision:
24:7b9e3beb61d5
Parent:
19:83b357d6806e 
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fbob 8:d05fe9f8bfb6 1 #ifndef HorizontalEstimator_h
fbob 8:d05fe9f8bfb6 2 #define HorizontalEstimator_h
fbob 8:d05fe9f8bfb6 3
fbob 8:d05fe9f8bfb6 4 #include "mbed.h"
fbob 8:d05fe9f8bfb6 5 #include "Parameters.h"
fbob 8:d05fe9f8bfb6 6 #include "PMW3901.h"
fbob 8:d05fe9f8bfb6 7
fbob 8:d05fe9f8bfb6 8 // Vertical estimator class
fbob 8:d05fe9f8bfb6 9 class HorizontalEstimator
fbob 8:d05fe9f8bfb6 10 {
fbob 8:d05fe9f8bfb6 11 public:
fbob 8:d05fe9f8bfb6 12 // Class constructor
fbob 8:d05fe9f8bfb6 13 HorizontalEstimator();
fbob 8:d05fe9f8bfb6 14 // Initialize class
fbob 8:d05fe9f8bfb6 15 void init();
fbob 17:f682b4a5686d 16 // Predict horizontal velocity from model
fbob 12:9fed6f656f88 17 void predict();
fbob 18:60516a4cba27 18 // Correct horizontal velocity with measurement
fbob 18:60516a4cba27 19 void correct(float phi, float theta, float p, float q, float z);
fbob 19:83b357d6806e 20 // Horizontal positions (m) and velocities (m/s) estimations
fbob 18:60516a4cba27 21 float x, y, u, v;
fbob 8:d05fe9f8bfb6 22 private:
fbob 8:d05fe9f8bfb6 23 // Flow sensor object
fbob 8:d05fe9f8bfb6 24 PMW3901 flow;
fbob 19:83b357d6806e 25 // Last horizontal position (m) measurements
fbob 18:60516a4cba27 26 float x_m_last, y_m_last;
fbob 8:d05fe9f8bfb6 27
fbob 8:d05fe9f8bfb6 28 };
fbob 8:d05fe9f8bfb6 29
fbob 8:d05fe9f8bfb6 30 #endif