Fabio Bobrow / CrazyflieController

Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer

Diff: Mixer/Mixer.h

Revision:
24:7b9e3beb61d5
Parent:
6:3188b00263e8
--- a/Mixer/Mixer.h	Wed Oct 31 13:21:09 2018 +0000
+++ b/Mixer/Mixer.h	Thu Dec 06 16:44:40 2018 +0000
@@ -12,11 +12,17 @@
     Mixer();
     // Actuate motors with desired total trust force (N) and torques (N.m)
     void actuate(float f_t, float tau_phi, float tau_theta, float tau_psi);
+    
+    void arm();
+    
+    void disarm();
   private:
     // Motors PWM outputs
     PwmOut motor_1, motor_2, motor_3, motor_4;
     // LED digital outputs
     DigitalOut led_1_red, led_1_green, led_4_red, led_4_green;
+    //
+    bool armed;
     // Angular velocities (rad/s)
     float omega_1, omega_2, omega_3, omega_4;
     // Converts total trust force (N) and torques (N.m) to angular velocities (rad/s)