Fabio Bobrow
Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Diff: VerticalEstimator/VerticalEstimator.cpp
- Revision:
- 18:60516a4cba27
- Parent:
- 17:f682b4a5686d
- Child:
- 19:83b357d6806e
diff -r f682b4a5686d -r 60516a4cba27 VerticalEstimator/VerticalEstimator.cpp
--- a/VerticalEstimator/VerticalEstimator.cpp Fri Oct 05 19:32:35 2018 +0000
+++ b/VerticalEstimator/VerticalEstimator.cpp Wed Oct 10 10:48:52 2018 +0000
@@ -22,8 +22,8 @@
w = w;
}
-// Update vertical position and velocity with measurement
-void VerticalEstimator::update(float phi, float theta)
+// Correct vertical position and velocity with measurement
+void VerticalEstimator::correct(float phi, float theta)
{
range.read();
float z_m = range.z*cos(phi)*cos(theta);