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.h@17:f682b4a5686d, 2018-10-05 (annotated)

Committer:
fbob
Date:
Fri Oct 05 19:32:35 2018 +0000
Revision:
17:f682b4a5686d
Parent:
16:54d2f299e404
Child:
21:169cc2b1d2ff
Comments;

Who changed what in which revision?

UserRevisionLine numberNew 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 17:f682b4a5686d 12 // Control reference roll and pitch angles (rad) given reference horizontal velocities (m/s) and current horizontal velocities (m/s)
fbob 16:54d2f299e404 13 void control(float u_r, float v_r, float u, float v);
fbob 17:f682b4a5686d 14 // Control roll and pitch references (rad) given reference horizontal velocities (m/s) and current horizontal velocities (m/s) on take-off
fbob 16:54d2f299e404 15 void control_take_off(float u_r, float v_r, float u, float v);
fbob 17:f682b4a5686d 16 // Roll and pitch references (rad)
fbob 8:d05fe9f8bfb6 17 float phi_r, theta_r;
fbob 8:d05fe9f8bfb6 18 private:
fbob 17:f682b4a5686d 19 // Control reference angle (rad) given reference horizontal velocity (m/s) and current horizontal velocity (m/s) with given time constant (s)
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