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@8:d05fe9f8bfb6, 2018-09-27 (annotated)

Committer:
fbob
Date:
Thu Sep 27 18:55:22 2018 +0000
Revision:
8:d05fe9f8bfb6
Child:
15:155ca63b7884
Included horizontal controller

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 8:d05fe9f8bfb6 7 }
fbob 8:d05fe9f8bfb6 8
fbob 8:d05fe9f8bfb6 9 //
fbob 8:d05fe9f8bfb6 10 void HorizontalController::control(float u_r, float v_r, float u, float v)
fbob 8:d05fe9f8bfb6 11 {
fbob 8:d05fe9f8bfb6 12 theta_r = control_single(u_r,u,T_u)/g;
fbob 8:d05fe9f8bfb6 13 phi_r = -control_single(v_r,v,T_v)/g;
fbob 8:d05fe9f8bfb6 14 }
fbob 8:d05fe9f8bfb6 15
fbob 8:d05fe9f8bfb6 16 //
fbob 8:d05fe9f8bfb6 17 float HorizontalController::control_single(float velocity_r, float velocity, float T_velocity)
fbob 8:d05fe9f8bfb6 18 {
fbob 8:d05fe9f8bfb6 19 return (1.0f/T_velocity)*(velocity_r-velocity);
fbob 8:d05fe9f8bfb6 20 }