Yuri De Stefani / CrazyflieController_final

programa final

Diff: VerticalController/VerticalController.h

Branch:
yuri
Revision:
8:1ad52489f6f3
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VerticalController/VerticalController.h	Fri Nov 30 19:23:29 2018 +0000
@@ -0,0 +1,19 @@
+# ifndef VerticalController_h
+# define VerticalController_h
+# include "mbed.h"
+// Vertical controller class
+class VerticalController
+{
+    public:
+        // Class constructor
+        VerticalController () ;
+        // Control total thrust force given vertical position reference and estimation
+        void control ( float z_r , float z, float w);
+        // Thrust force (N)
+        float f_t;
+    private:
+        // Last vertical position (m) error
+        float z_e_last ;
+        float kp, kd;
+};
+# endif
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