controlador de atitude
Diff: VerticalEstimator/VerticalEstimator.h
- Revision:
- 5:b1f5ea192d12
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VerticalEstimator/VerticalEstimator.h Wed Oct 17 12:13:33 2018 +0000 @@ -0,0 +1,27 @@ +# ifndef VerticalEstimator_h +#define VerticalEstimator_h +#include "mbed.h" +#include "Library.h" +#include "VL53L0X.h" +// Vertical estimator class +class VerticalEstimator +{ + public: + + // Class constructor + VerticalEstimator () ; + // Initialize class + void init () ; + // Predict vertical position and velocity from model + void predict () ; + // Correct vertical position and velocity with measurement + void correct ( float phi , float theta ); + // Vertical position (m) and velocity (m/s) estimation + float z, w; + private: + // Range sensor object + VL53L0X range ; + // Last vertical position (m) measurement + float z_m_last ; +}; +# endif