Diff: Library/Library.h

Revision:

0:3871dc7bedf7

Child:

1:579511e9f0b8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Library/Library.h	Wed Oct 10 11:13:07 2018 +0000
@@ -0,0 +1,26 @@
+#ifndef Library_h
+#define Library_h
+//Altitude Controller VARIABLES
+float const dt2 = 0.005f;
+// Controller gains and /or time constants
+float const Kp_phi = 3.63*1.96;
+float const Kp_theta = Kp_phi;
+float const Td_phi = 1.96;
+float const Td_theta = Td_phi;
+float const Kp_psi = 2.57*0.81;
+float const Td_psi = 0.81;
+// Quadcopter moments of inertia (kg.m ^2)
+float const I_xx = 16.0e-6f;
+float const I_yy = 16.0e-6f;
+float const I_zz = 29.0e-6f;
+// ALTITUDE Estimator constants
+ float const pi = 3.14159265f;
+ float const dt = 0.005f;
+ float const rho = 0.05f;
+ // Mixer
+const float alpha = 1.081E-7;
+const float beta = 2.678E-11;
+const float kl = 2.69E-8;
+const float kd = 1.59E-10;
+const float l = 33E-3;
+# endif