Fabio Bobrow / CrazyflieController

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

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Show/hide line numbers VerticalEstimator.h Source File

VerticalEstimator.h

00001 #ifndef VerticalEstimator_h
00002 #define VerticalEstimator_h
00003 
00004 #include "mbed.h"
00005 #include "Parameters.h"
00006 #include "VL53L0X.h"
00007 
00008 // Vertical estimator class
00009 class VerticalEstimator
00010 {
00011   public:
00012     // Class constructor
00013     VerticalEstimator();
00014     // Initialize class
00015     void init();
00016     // Predict vertical position and velocity from model
00017     void predict();
00018     // Correct vertical position and velocity with measurement
00019     void correct(float phi, float theta);
00020     // Vertical position (m) and velocity (m/s) estimations
00021     float z, w;
00022   private:
00023     // Range sensor object
00024     VL53L0X range;
00025     // Last vertical position (m) measurement
00026     float z_m_last;
00027 };
00028 
00029 #endif
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