Fabio Bobrow
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:
- 8:d05fe9f8bfb6
- Child:
- 15:155ca63b7884
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HorizontalController/HorizontalController.cpp Thu Sep 27 18:55:22 2018 +0000
@@ -0,0 +1,20 @@
+#include "mbed.h"
+#include "HorizontalController.h"
+
+// Class constructor
+HorizontalController::HorizontalController()
+{
+}
+
+//
+void HorizontalController::control(float u_r, float v_r, float u, float v)
+{
+ theta_r = control_single(u_r,u,T_u)/g;
+ phi_r = -control_single(v_r,v,T_v)/g;
+}
+
+//
+float HorizontalController::control_single(float velocity_r, float velocity, float T_velocity)
+{
+ return (1.0f/T_velocity)*(velocity_r-velocity);
+}
\ No newline at end of file