Fabio Bobrow / CrazyflieController

AttitudeController/AttitudeController.h

Committer:
fbob
Date:
2018-09-27
Revision:
5:b9947e3d20cf
Parent:
4:8c7b42745080
Child:
17:f682b4a5686d

File content as of revision 5:b9947e3d20cf:

#ifndef AttitudeController_h
#define AttitudeController_h

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

class AttitudeController
{
  public:
    // Class constructor
    AttitudeController();
    // Control torques given reference angles and current angles and angular velocities 
    void control(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi, float p, float q, float r);
    // Torques (N.m)
    float tau_phi, tau_theta, tau_psi;
  private:
    // Control torques given reference angles and current angles and angular velocities (with given time constants and moments of inertia)
    float control_single(float angle_r, float angle, float rate, float T_angle, float T_rate, float I);
};

#endif