Fabio Bobrow / CrazyflieController

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

Diff: HorizontalController/HorizontalController.cpp

Revision:
15:155ca63b7884
Parent:
8:d05fe9f8bfb6
Child:
16:54d2f299e404
--- a/HorizontalController/HorizontalController.cpp	Wed Oct 03 19:39:48 2018 +0000
+++ b/HorizontalController/HorizontalController.cpp	Wed Oct 03 22:12:38 2018 +0000
@@ -4,13 +4,22 @@
 // Class constructor
 HorizontalController::HorizontalController()
 {
+    phi_r = 0.0f;
+    theta_r = 0.0f;
 }
 
-// 
+/*// 
 void HorizontalController::control(float u_r, float v_r, float u, float v)
 {
     theta_r = control_single(u_r,u,T_u)/g;
     phi_r = -control_single(v_r,v,T_v)/g;
+}*/
+
+// 
+void HorizontalController::control(float u_r, float v_r, float u, float v, float T_u_new, float T_v_new)
+{
+    phi_r = -control_single(v_r,v,T_v_new)/g;
+    theta_r = control_single(u_r,u,T_u_new)/g;
 }
 
 //