Fabio Bobrow / CrazyflieController

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

AttitudeController/AttitudeController.h@0:b1f2c9e88e32, 2018-08-31 (annotated)

Committer:
fbob
Date:
Fri Aug 31 18:41:31 2018 +0000
Revision:
0:b1f2c9e88e32
Child:
2:7e01bc32bf4c
Include attitude controller, attitude estimator and mixer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 0:b1f2c9e88e32 1 #ifndef AttitudeController_h
fbob 0:b1f2c9e88e32 2 #define AttitudeController_h
fbob 0:b1f2c9e88e32 3
fbob 0:b1f2c9e88e32 4 #include "mbed.h"
fbob 0:b1f2c9e88e32 5
fbob 0:b1f2c9e88e32 6 // Controller gains
fbob 0:b1f2c9e88e32 7 float const K_phi = 6.25f;
fbob 0:b1f2c9e88e32 8 float const K_theta = 6.25f;
fbob 0:b1f2c9e88e32 9 float const K_psi = 5.0f;
fbob 0:b1f2c9e88e32 10 float const K_p = 25.0f;
fbob 0:b1f2c9e88e32 11 float const K_q = 25.0f;
fbob 0:b1f2c9e88e32 12 float const K_r = 10.0f;
fbob 0:b1f2c9e88e32 13
fbob 0:b1f2c9e88e32 14 // Quadcopter moments of inertia
fbob 0:b1f2c9e88e32 15 float const I_xx = 16.0e-6f;
fbob 0:b1f2c9e88e32 16 float const I_yy = 16.0e-6f;
fbob 0:b1f2c9e88e32 17 float const I_zz = 29.0e-6f;
fbob 0:b1f2c9e88e32 18
fbob 0:b1f2c9e88e32 19 class AttitudeController
fbob 0:b1f2c9e88e32 20 {
fbob 0:b1f2c9e88e32 21 public:
fbob 0:b1f2c9e88e32 22 // Class constructor
fbob 0:b1f2c9e88e32 23 AttitudeController();
fbob 0:b1f2c9e88e32 24 // Calculate torques given reference angles and current angles and rates
fbob 0:b1f2c9e88e32 25 void calculate(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi, float p, float q, float r);
fbob 0:b1f2c9e88e32 26 // Torques (N.m)
fbob 0:b1f2c9e88e32 27 float tau_phi, tau_theta, tau_psi;
fbob 0:b1f2c9e88e32 28 private:
fbob 0:b1f2c9e88e32 29 // Calculate torque given reference angle and current angle and rate (with given gains and moment of inertia)
fbob 0:b1f2c9e88e32 30 float calculate_single(float angle_r, float angle, float rate, float K_angle, float K_rate, float I);
fbob 0:b1f2c9e88e32 31
fbob 0:b1f2c9e88e32 32 };
fbob 0:b1f2c9e88e32 33
fbob 0:b1f2c9e88e32 34 #endif