Diff: AttitudeController/AttitudeController.h

Revision:

21:169cc2b1d2ff

Parent:

19:83b357d6806e

--- a/AttitudeController/AttitudeController.h	Thu Oct 18 13:38:10 2018 +0000
+++ b/AttitudeController/AttitudeController.h	Wed Oct 24 14:24:56 2018 +0000
@@ -4,6 +4,7 @@
 #include "mbed.h"
 #include "Parameters.h"
 
+// Attitude controller class
 class AttitudeController
 {
   public:
@@ -14,10 +15,8 @@
     // Torques (N.m)
     float tau_phi, tau_theta, tau_psi;
   private:
-    // Control torque (N.m) given reference angle (rad) and current angle (rad) and angular velocity (rad/s) with given time constants (s) and moment of inertia (kg.m^2)
-    float control_single(float angle_r, float angle, float rate, float T_angle, float T_rate, float I);
-    // Control torque (N.m) given reference angle (rad) and current angle (rad) and angular velocity (rad/s) with given time constants (s) and moment of inertia (kg.m^2)
-    float control_single_regulator(float angle_r, float angle, float rate, float K_angle, float K_rate, float I);
+    // Control torque (N.m) given reference angle (rad) and current angle (rad) and angular velocity (rad/s) with given controller gains and moment of inertia (kg.m^2)
+    float control_state_regulator(float angle_r, float angle, float rate, float kp, float kd, float I);
 };
 
 #endif
\ No newline at end of file