Yuri De Stefani / CrazyflieController

controlador de atitude

VerticalEstimator/VerticalEstimator.h

Committer:
yurindes
Date:
2018-10-17
Revision:
5:b1f5ea192d12

File content as of revision 5:b1f5ea192d12:

# 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