Yuri De Stefani / CrazyflieController

controlador de atitude

AttitudeController/AttitudeController.h@8:c96125e9ac70, 2018-11-21 (annotated)

Committer:
yurindes
Date:
Wed Nov 21 10:07:00 2018 +0000
Branch:
yuri
Revision:
8:c96125e9ac70
Parent:
2:54fabc943f25 
teste controlador atitude;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yvesyuzo 0:3871dc7bedf7 1 #ifndef AttitudeController_h
yvesyuzo 0:3871dc7bedf7 2 #define AttitudeController_h
yvesyuzo 0:3871dc7bedf7 3
yvesyuzo 0:3871dc7bedf7 4 #include "mbed.h"
yvesyuzo 0:3871dc7bedf7 5 #include "Library.h"
yvesyuzo 0:3871dc7bedf7 6
yvesyuzo 0:3871dc7bedf7 7 class AttitudeController
yvesyuzo 0:3871dc7bedf7 8 {
yvesyuzo 0:3871dc7bedf7 9 public :
yvesyuzo 0:3871dc7bedf7 10 // Class constructor
yvesyuzo 0:3871dc7bedf7 11 AttitudeController () ;
yvesyuzo 0:3871dc7bedf7 12 // Control torques given reference angles and current angles and angular velocities
yvesyuzo 0:3871dc7bedf7 13 void control(float phi_r, float theta_r, float psi_r, float phi, float theta, float psi);
yvesyuzo 0:3871dc7bedf7 14 // Torques (N.m)
yvesyuzo 0:3871dc7bedf7 15 float tau_phi, tau_theta, tau_psi;
yvesyuzo 2:54fabc943f25 16
yvesyuzo 0:3871dc7bedf7 17 private :
yvesyuzo 0:3871dc7bedf7 18 // Control torque of a single axis given reference angles and current angles and angular velocities ( with given gains and /or time constants and moments of inertia )
yvesyuzo 0:3871dc7bedf7 19 float single_axis_control(float angle_r, float angle, float K_angle, float K_rate , float I, float last_erro_angle);
yvesyuzo 2:54fabc943f25 20
yvesyuzo 0:3871dc7bedf7 21 float last_erro_phi, last_erro_theta, last_erro_psi;
yvesyuzo 2:54fabc943f25 22
yvesyuzo 0:3871dc7bedf7 23 float last_erro;
yvesyuzo 0:3871dc7bedf7 24 };
yvesyuzo 0:3871dc7bedf7 25 # endif
yvesyuzo 0:3871dc7bedf7 26