Diff: AttitudeController/AttitudeController.h

Revision:

3:e782fe31ace2

Parent:

2:7e01bc32bf4c

Child:

4:8c7b42745080

--- a/AttitudeController/AttitudeController.h	Thu Sep 13 13:08:58 2018 +0000
+++ b/AttitudeController/AttitudeController.h	Wed Sep 26 15:01:03 2018 +0000
@@ -4,12 +4,12 @@
 #include "mbed.h"
 
 // Controller time constants (s)
-float const t_phi = 0.16f;
-float const t_theta = 0.16f;
-float const t_psi = 0.2f;
-float const t_p = 0.04f;
-float const t_q = 0.04f;
-float const t_r = 0.1f;
+float const T_phi = 0.16f;
+float const T_theta = 0.16f;
+float const T_psi = 0.2f;
+float const T_p = 0.04f;
+float const T_q = 0.04f;
+float const T_r = 0.1f;
 
 // Quadcopter moments of inertia (kg.m^2)
 float const I_xx = 16.0e-6f;
@@ -21,13 +21,13 @@
   public:
     // Class constructor
     AttitudeController();
-    // Calculate torques given reference angles and current angles and rates
+    // Control torques given reference angles and current angles and angular velocities 
     void control(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi, float p, float q, float r);
     // Torques (N.m)
     float tau_phi, tau_theta, tau_psi;
   private:
-    // Calculate torque given reference angle and current angle and rate (with given gains and moment of inertia)
-    float cascate_control(float angle_r, float angle, float rate, float K_angle, float K_rate, float I);
+    // Control torques given reference angles and current angles and angular velocities (with given time constants and moments of inertia)
+    float control_single(float angle_r, float angle, float rate, float T_angle, float T_rate, float I);
 };
 
-#endif
+#endif
\ No newline at end of file