Fabio Bobrow / CrazyflieController

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:
17:f682b4a5686d
Parent:
15:155ca63b7884
Child:
18:60516a4cba27
--- a/HorizontaEstimator/HorizontalEstimator.cpp	Fri Oct 05 13:19:03 2018 +0000
+++ b/HorizontaEstimator/HorizontalEstimator.cpp	Fri Oct 05 19:32:35 2018 +0000
@@ -11,21 +11,19 @@
 // Initialize class 
 void HorizontalEstimator::init()
 {
-    // Initialize flow sensor object
     flow.init();
 }
 
-// Predict vertical position and velocity
+// Predict horizontal velocity from model
 void HorizontalEstimator::predict()
 {
     u = u;
     v = v;
 }
 
-//
+// Update horizontal velocity with measurement
 void HorizontalEstimator::update(float phi, float theta, float p, float q, float z)
 {
-    // 
     flow.read();
     float div = (cos(phi)*cos(theta));
     if (div>0.5f)