Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Diff: VerticalController/VerticalController.h
- Revision:
- 7:220ce3839be8
- Child:
- 15:155ca63b7884
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VerticalController/VerticalController.h Thu Sep 27 17:50:16 2018 +0000
@@ -0,0 +1,18 @@
+#ifndef VerticalController_h
+#define VerticalController_h
+
+#include "mbed.h"
+#include "Parameters.h"
+
+class VerticalController
+{
+ public:
+ // Class constructor
+ VerticalController();
+ // Control thrust force (N) given vertical position (m) and velocity (m/s)
+ void control(float z_r, float z, float w);
+ // Thrust force (N)
+ float f_t;
+};
+
+#endif
\ No newline at end of file