Fabio Bobrow / CrazyflieController

Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer

Diff: VerticalEstimator/VerticalEstimator.cpp

Revision:
17:f682b4a5686d
Parent:
15:155ca63b7884
Child:
18:60516a4cba27
--- a/VerticalEstimator/VerticalEstimator.cpp	Fri Oct 05 13:19:03 2018 +0000
+++ b/VerticalEstimator/VerticalEstimator.cpp	Fri Oct 05 19:32:35 2018 +0000
@@ -15,14 +15,14 @@
     range.init();
 }
 
-// Predict vertical position and velocity
+// Predict vertical position and velocity from model
 void VerticalEstimator::predict()
 {
     z = z+w*dt;
     w = w;
 }
 
-// Update vertical position and velocity by merging range sensor readings
+// Update vertical position and velocity with measurement
 void VerticalEstimator::update(float phi, float theta)
 {
     range.read();