Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer
Diff: HorizontaEstimator/HorizontalEstimator.cpp
- Revision:
- 17:f682b4a5686d
- Parent:
- 15:155ca63b7884
- Child:
- 18:60516a4cba27
diff -r 54d2f299e404 -r f682b4a5686d HorizontaEstimator/HorizontalEstimator.cpp --- a/HorizontaEstimator/HorizontalEstimator.cpp Fri Oct 05 13:19:03 2018 +0000 +++ b/HorizontaEstimator/HorizontalEstimator.cpp Fri Oct 05 19:32:35 2018 +0000 @@ -11,21 +11,19 @@ // Initialize class void HorizontalEstimator::init() { - // Initialize flow sensor object flow.init(); } -// Predict vertical position and velocity +// Predict horizontal velocity from model void HorizontalEstimator::predict() { u = u; v = v; } -// +// Update horizontal velocity with measurement void HorizontalEstimator::update(float phi, float theta, float p, float q, float z) { - // flow.read(); float div = (cos(phi)*cos(theta)); if (div>0.5f)