Yuri De Stefani / CrazyflieController

controlador de atitude

Library/Library.h@0:3871dc7bedf7, 2018-10-10 (annotated)

Committer:
yvesyuzo
Date:
Wed Oct 10 11:13:07 2018 +0000
Revision:
0:3871dc7bedf7
Child:
1:579511e9f0b8
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yvesyuzo 0:3871dc7bedf7 1 #ifndef Library_h
yvesyuzo 0:3871dc7bedf7 2 #define Library_h
yvesyuzo 0:3871dc7bedf7 3 //Altitude Controller VARIABLES
yvesyuzo 0:3871dc7bedf7 4 float const dt2 = 0.005f;
yvesyuzo 0:3871dc7bedf7 5 // Controller gains and /or time constants
yvesyuzo 0:3871dc7bedf7 6 float const Kp_phi = 3.63*1.96;
yvesyuzo 0:3871dc7bedf7 7 float const Kp_theta = Kp_phi;
yvesyuzo 0:3871dc7bedf7 8 float const Td_phi = 1.96;
yvesyuzo 0:3871dc7bedf7 9 float const Td_theta = Td_phi;
yvesyuzo 0:3871dc7bedf7 10 float const Kp_psi = 2.57*0.81;
yvesyuzo 0:3871dc7bedf7 11 float const Td_psi = 0.81;
yvesyuzo 0:3871dc7bedf7 12 // Quadcopter moments of inertia (kg.m ^2)
yvesyuzo 0:3871dc7bedf7 13 float const I_xx = 16.0e-6f;
yvesyuzo 0:3871dc7bedf7 14 float const I_yy = 16.0e-6f;
yvesyuzo 0:3871dc7bedf7 15 float const I_zz = 29.0e-6f;
yvesyuzo 0:3871dc7bedf7 16 // ALTITUDE Estimator constants
yvesyuzo 0:3871dc7bedf7 17 float const pi = 3.14159265f;
yvesyuzo 0:3871dc7bedf7 18 float const dt = 0.005f;
yvesyuzo 0:3871dc7bedf7 19 float const rho = 0.05f;
yvesyuzo 0:3871dc7bedf7 20 // Mixer
yvesyuzo 0:3871dc7bedf7 21 const float alpha = 1.081E-7;
yvesyuzo 0:3871dc7bedf7 22 const float beta = 2.678E-11;
yvesyuzo 0:3871dc7bedf7 23 const float kl = 2.69E-8;
yvesyuzo 0:3871dc7bedf7 24 const float kd = 1.59E-10;
yvesyuzo 0:3871dc7bedf7 25 const float l = 33E-3;
yvesyuzo 0:3871dc7bedf7 26 # endif