Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
HorizontaEstimator/HorizontalEstimator.cpp
- Committer:
- fbob
- Date:
- 2018-09-28
- Revision:
- 12:9fed6f656f88
- Parent:
- 10:7074bc7038d6
- Child:
- 15:155ca63b7884
File content as of revision 12:9fed6f656f88:
#include "mbed.h" #include "HorizontalEstimator.h" // Class constructor HorizontalEstimator::HorizontalEstimator() : flow(PA_7,PA_6,PA_5,PB_4) { } // Initialize class void HorizontalEstimator::init() { // Initialize flow sensor object flow.init(); } // Predict vertical position and velocity void HorizontalEstimator::predict() { u = u; v = v; } // void HorizontalEstimator::update(float phi, float theta, float p, float q, float z) { // flow.read(); float d = z/(cos(phi)*cos(theta)); float u_m = (flow.x+q)*d; float v_m = (flow.y-p)*d; u = (1-rho_hor)*u+rho_hor*u_m; v = (1-rho_hor)*v+rho_hor*v_m; }