Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
HorizontalController/HorizontalController.h@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?
| 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 | 8:d05fe9f8bfb6 | 13 | void control(float u_r, float v_r, float u, float v); |
| fbob | 8:d05fe9f8bfb6 | 14 | // |
| fbob | 8:d05fe9f8bfb6 | 15 | float phi_r, theta_r; |
| fbob | 8:d05fe9f8bfb6 | 16 | private: |
| fbob | 8:d05fe9f8bfb6 | 17 | // |
| fbob | 8:d05fe9f8bfb6 | 18 | float control_single(float velocity_r, float velocity, float T_velocity); |
| fbob | 8:d05fe9f8bfb6 | 19 | }; |
| fbob | 8:d05fe9f8bfb6 | 20 | |
| fbob | 8:d05fe9f8bfb6 | 21 | #endif |