Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Parameters/Parameters.h
- Committer:
- fbob
- Date:
- 2018-09-27
- Revision:
- 5:b9947e3d20cf
- Child:
- 6:3188b00263e8
File content as of revision 5:b9947e3d20cf:
#ifndef Parameters_h #define Parameters_h // Motor constants const float alpha = 1.16e-07f; const float beta = 7.149e-10f; // Propeller constants const float kl = 1.726e-08f; // N.s^2/rad^2 const float kd = 1.426e-10f; // N.m.s^2/rad^2 // Quadcopter dimensions const float l = 0.033f; // m const float m = 0.030f; // kg const float I_xx = 16.0e-6f; // kg.m^2 const float I_yy = 16.0e-6f; // kg.m^2 const float I_zz = 29.0e-6f; // kg.m^2 // Attitude estimator parameters const float dt_att = 0.005f; // s const float rho = 0.02f; // Attitude controller time constants const float T_phi = 0.2f; // s const float T_theta = 0.2f; // s const float T_psi = 0.2f; // s const float T_p = 0.04f; // s const float T_q = 0.04f; // s const float T_r = 0.1f; // s #endif