Yuri De Stefani / CrazyflieController_final

programa final

VerticalEstimator/VerticalEstimator.h@8:1ad52489f6f3, 2018-11-30 (annotated)

Committer:
yurindes
Date:
Fri Nov 30 19:23:29 2018 +0000
Branch:
yuri
Revision:
8:1ad52489f6f3
Parent:
5:b1f5ea192d12 
final;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yurindes 8:1ad52489f6f3 1 #ifndef VerticalEstimator_h
yurindes 5:b1f5ea192d12 2 #define VerticalEstimator_h
yurindes 8:1ad52489f6f3 3
yurindes 5:b1f5ea192d12 4 #include "mbed.h"
yurindes 5:b1f5ea192d12 5 #include "Library.h"
yurindes 5:b1f5ea192d12 6 #include "VL53L0X.h"
yurindes 8:1ad52489f6f3 7
yurindes 8:1ad52489f6f3 8
yurindes 5:b1f5ea192d12 9 // Vertical estimator class
yurindes 5:b1f5ea192d12 10 class VerticalEstimator
yurindes 5:b1f5ea192d12 11 {
yurindes 8:1ad52489f6f3 12 public :
yurindes 8:1ad52489f6f3 13 //Class constructor
yurindes 8:1ad52489f6f3 14 VerticalEstimator () ;
yurindes 8:1ad52489f6f3 15 // Initialize class
yurindes 8:1ad52489f6f3 16 void init () ;
yurindes 8:1ad52489f6f3 17 // Predict vertical position and velocity from model
yurindes 8:1ad52489f6f3 18 void predict () ;
yurindes 8:1ad52489f6f3 19 // Correct vertical position and velocity with measurement
yurindes 8:1ad52489f6f3 20 void correct (float phi, float theta);
yurindes 8:1ad52489f6f3 21 // Vertical position (m) and velocity (m/s) estimation
yurindes 8:1ad52489f6f3 22 float w_est, z_est;
yurindes 8:1ad52489f6f3 23
yurindes 8:1ad52489f6f3 24 private :
yurindes 8:1ad52489f6f3 25 // Range sensor object
yurindes 8:1ad52489f6f3 26 VL53L0X range ;
yurindes 8:1ad52489f6f3 27 // Last vertical position (m) measurement
yurindes 8:1ad52489f6f3 28 float z, w, zml, wm, zm;
yurindes 5:b1f5ea192d12 29 };
yurindes 8:1ad52489f6f3 30
yurindes 5:b1f5ea192d12 31 # endif