Diff: HorizontalController/HorizontalController.cpp

Revision:

16:54d2f299e404

Parent:

15:155ca63b7884

Child:

17:f682b4a5686d

--- a/HorizontalController/HorizontalController.cpp	Wed Oct 03 22:12:38 2018 +0000
+++ b/HorizontalController/HorizontalController.cpp	Fri Oct 05 13:19:03 2018 +0000
@@ -8,18 +8,18 @@
     theta_r = 0.0f;
 }
 
-/*// 
+// 
 void HorizontalController::control(float u_r, float v_r, float u, float v)
 {
+    phi_r = -control_single(v_r,v,T_v)/g;
     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)
+void HorizontalController::control_take_off(float u_r, float v_r, float u, float v)
 {
-    phi_r = -control_single(v_r,v,T_v_new)/g;
-    theta_r = control_single(u_r,u,T_u_new)/g;
+    phi_r = -control_single(v_r,v,T_v_take_off)/g;
+    theta_r = control_single(u_r,u,T_u_take_off)/g;
 }
 
 //