Diff: VerticalController/VerticalController.h

Revision:

21:169cc2b1d2ff

Parent:

17:f682b4a5686d

--- a/VerticalController/VerticalController.h	Thu Oct 18 13:38:10 2018 +0000
+++ b/VerticalController/VerticalController.h	Wed Oct 24 14:24:56 2018 +0000
@@ -4,17 +4,19 @@
 #include "mbed.h"
 #include "Parameters.h"
 
+// Vertical controller class
 class VerticalController
 {
   public:
     // Class constructor
     VerticalController();
-    // Control thrust force (N) given vertical position (m) and velocity (m/s)
+    // Control total thrust force (N) given reference vertical position (m) and current vertical position (m) and velocity (m/s)
     void control(float z_r, float z, float w);
-    // Control thrust force (N) given vertical position (m) and velocity (m/s) on take-off
-    void control_take_off(float z_r, float z, float w);
-    // Thrust force (N)
+    // Total thrust force (N)
     float f_t;
+  private:
+    // Control aceleration given reference position (m) and current position (m) and velocity (m/s) with given controller gains
+    float control_state_regulator(float position_r, float position, float velocity, float kp, float kd);  
 };
 
 #endif
\ No newline at end of file