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