Fabio Bobrow / CrazyflieController

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

HorizontalController/HorizontalController.h

Committer:
fbob
Date:
2018-10-05
Revision:
16:54d2f299e404
Parent:
15:155ca63b7884
Child:
17:f682b4a5686d

File content as of revision 16:54d2f299e404:

#ifndef HorizontalController_h
#define HorizontalController_h

#include "mbed.h"
#include "Parameters.h"

class HorizontalController
{
  public:
    // Class constructor
    HorizontalController();
    // 
    void control(float u_r, float v_r, float u, float v);
    // 
    void control_take_off(float u_r, float v_r, float u, float v);
    // 
    float phi_r, theta_r;
  private:
    //
    float control_single(float velocity_r, float velocity, float T_velocity);  
};

#endif