Fabio Bobrow / CrazyflieController

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:
2018-10-05
Revision:
17:f682b4a5686d
Parent:
16:54d2f299e404
Child:
21:169cc2b1d2ff

File content as of revision 17:f682b4a5686d:

#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) on take-off
    void control_take_off(float z_r, float z, float w);
    // Thrust force (N)
    float f_t;
};

#endif