Fabio Bobrow / CrazyflieController

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

Diff: AttitudeEstimator/AttitudeEstimator.h

Revision:
1:24effec9e9aa
Parent:
0:b1f2c9e88e32
Child:
5:b9947e3d20cf
--- a/AttitudeEstimator/AttitudeEstimator.h	Fri Aug 31 18:41:31 2018 +0000
+++ b/AttitudeEstimator/AttitudeEstimator.h	Wed Sep 12 00:18:15 2018 +0000
@@ -5,8 +5,9 @@
 #include "MPU9250.h"
 
 // Estimator constants 
-float const rho = 0.05f;
+float const pi = 3.14159265f;
 float const dt = 0.005f;
+float const rho = 0.02f;
 
 // Attitude estimator class
 class AttitudeEstimator
@@ -34,7 +35,7 @@
     // Euler angles (rad) from accelerometer data
     float phi_accel, theta_accel;
     // Euler angles (rad) from gyroscope data
-    float phi_gyro, theta_gyro;
+    float phi_gyro, theta_gyro, psi_gyro;
     // Angular velocities bias (rad/s)
     float p_bias, q_bias, r_bias;