Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Diff: HorizontaEstimator/HorizontalEstimator.cpp
- Revision:
- 10:7074bc7038d6
- Parent:
- 8:d05fe9f8bfb6
- Child:
- 12:9fed6f656f88
--- a/HorizontaEstimator/HorizontalEstimator.cpp Fri Sep 28 15:08:41 2018 +0000
+++ b/HorizontaEstimator/HorizontalEstimator.cpp Fri Sep 28 15:40:17 2018 +0000
@@ -18,6 +18,6 @@
{
//
flow.read();
- u = 0.9f*u+0.1f*(flow.x-p)*z;
- v = 0.9f*v+0.1f*(flow.y-q)*z;
+ u = 0.5f*u+0.5f*(flow.x-p)*z;
+ v = 0.5f*v+0.5f*(flow.y-q)*z;
}
\ No newline at end of file