Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
HorizontalController/HorizontalController.cpp
- Committer:
- fbob
- Date:
- 2018-10-03
- Revision:
- 15:155ca63b7884
- Parent:
- 8:d05fe9f8bfb6
- Child:
- 16:54d2f299e404
File content as of revision 15:155ca63b7884:
#include "mbed.h" #include "HorizontalController.h" // Class constructor HorizontalController::HorizontalController() { phi_r = 0.0f; theta_r = 0.0f; } /*// 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; }*/ // void HorizontalController::control(float u_r, float v_r, float u, float v, float T_u_new, float T_v_new) { phi_r = -control_single(v_r,v,T_v_new)/g; theta_r = control_single(u_r,u,T_u_new)/g; } // float HorizontalController::control_single(float velocity_r, float velocity, float T_velocity) { return (1.0f/T_velocity)*(velocity_r-velocity); }