Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
VerticalController/VerticalController.h
- Committer:
- fbob
- Date:
- 2018-10-03
- Revision:
- 15:155ca63b7884
- Parent:
- 7:220ce3839be8
- Child:
- 16:54d2f299e404
File content as of revision 15:155ca63b7884:
#ifndef VerticalController_h #define VerticalController_h #include "mbed.h" #include "Parameters.h" class VerticalController { public: // Class constructor VerticalController(); /*// Control thrust force (N) given vertical position (m) and velocity (m/s) void control(float z_r, float z, float w);*/ // Control thrust force (N) given vertical position (m) and velocity (m/s) void control(float z_r, float z, float w, float K_z_new, float K_w_new); // Thrust force (N) float f_t; }; #endif