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:
- 17:f682b4a5686d
- Parent:
- 15:155ca63b7884
- Child:
- 18:60516a4cba27
diff -r 54d2f299e404 -r f682b4a5686d VerticalEstimator/VerticalEstimator.cpp --- a/VerticalEstimator/VerticalEstimator.cpp Fri Oct 05 13:19:03 2018 +0000 +++ b/VerticalEstimator/VerticalEstimator.cpp Fri Oct 05 19:32:35 2018 +0000 @@ -15,14 +15,14 @@ range.init(); } -// Predict vertical position and velocity +// Predict vertical position and velocity from model void VerticalEstimator::predict() { z = z+w*dt; w = w; } -// Update vertical position and velocity by merging range sensor readings +// Update vertical position and velocity with measurement void VerticalEstimator::update(float phi, float theta) { range.read();