Diff: Parameters/Parameters.h

Revision:

22:5f2323e30cdc

Parent:

21:169cc2b1d2ff

Child:

23:4905fbc2b31a

--- a/Parameters/Parameters.h	Wed Oct 24 14:24:56 2018 +0000
+++ b/Parameters/Parameters.h	Thu Oct 25 12:41:50 2018 +0000
@@ -43,7 +43,7 @@
 
 // Attitude controller gains (yaw)
 const float Ts_psi = 0.8f;          // s
-const float OS_psi = 0.005f;       // %
+const float OS_psi = 0.005f;        // %
 const float zeta_psi = abs(log(OS_psi))/sqrt(pow(log(OS_psi),2)+pow(pi,2));
 const float omega_n_psi = 4.0f/(Ts_psi*zeta_psi);
 const float kd_psi = pow(omega_n_psi,2.0f);       
@@ -53,21 +53,25 @@
 const float rho_ver = 0.3f;        
 
 // Vertical controller gains (z)
-const float Ts_z = 2.0f;         // s
-const float OS_z = 0.005f;         // %
+const float Ts_z = 2.0f;            // s
+const float OS_z = 0.005f;          // %
 const float zeta_z = abs(log(OS_z))/sqrt(pow(log(OS_z),2)+pow(pi,2));
 const float omega_n_z = 4.0f/(Ts_z*zeta_z);
 const float kp_z = pow(omega_n_z,2.0f);       
 const float kd_z = 2.0f*zeta_z*omega_n_z; 
 
+// Optical flow sensor constant
+const float gamma = 42.0f;
+const float resolution = 420.0f;
+const float sigma = (1.0f/dt_flow)*(2.0f*tan((gamma*pi/180.0f)/2.0f))/resolution; 
+
 // Horizontal estimator weighthing (measurement X prediction)
-const float rho_hor = 0.3f;   
+const float rho_hor = 0.3f;  
 
 // Horizontal controller gains (x/y)
-const float Ts_x = 4.0f;         // s
-const float OS_x = 0.005f;         // %
+const float Ts_x = 4.0f;            // s
+const float OS_x = 0.005f;          // %
 const float zeta_x = abs(log(OS_x))/sqrt(pow(log(OS_x),2)+pow(pi,2));
-//const float zeta_x = 1.5;
 const float omega_n_x = 4.0f/(Ts_x*zeta_x);
 const float kp_x = pow(omega_n_x,2.0f);       
 const float kd_x = 2.0f*zeta_x*omega_n_x;