Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

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Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

FlightController/RateController/RateController.h

Committer:
joe4465
Date:
2015-03-04
Revision:
0:c6a85bb2a827
Child:
2:969dfa4f2436

File content as of revision 0:c6a85bb2a827:

#include "mbed.h"
#include "Global.h"
#include "PidWrapper.h"
#include "ConfigFileWrapper.h"

#ifndef RateController_H
#define RateController_H

class RateController               
{
  public:                  
    RateController(); 
    ~RateController();
    
    bool initialise(Sensors& sensors, NavigationController& navigationController);
    PidWrapper::PidOutputs compute();
    
  private:
    Sensors _sensors;
    NavigationController _navigationController;
    PidWrapper _yawRatePIDController;
    PidWrapper _pitchRatePIDController;
    PidWrapper _rollRatePIDController;
};

#endif