Diff: AttitudeController/AttitudeController.cpp

Revision:

2:54fabc943f25

Parent:

0:3871dc7bedf7

Child:

8:1ad52489f6f3

--- a/AttitudeController/AttitudeController.cpp	Wed Oct 10 11:19:54 2018 +0000
+++ b/AttitudeController/AttitudeController.cpp	Tue Oct 16 21:57:19 2018 +0000
@@ -10,19 +10,24 @@
 // Control torques given reference angles and current angles and angular velocities
 void AttitudeController::control ( float phi_r, float theta_r, float psi_r, float phi, float theta, float psi)
 {
-    tau_phi=single_axis_control ( phi_r , phi , Kp_phi , Td_phi , I_xx, last_erro_phi);
-    last_erro_phi=last_erro;
-    psi_r=single_axis_control (  psi_r , psi , Kp_psi , Td_psi , I_zz, last_erro_psi);
-    last_erro_psi=last_erro;
-    theta_r=single_axis_control ( theta_r , theta , Kp_theta , Td_theta , I_yy, last_erro_theta);
-    last_erro_theta=last_erro;
+    tau_phi = single_axis_control ( phi_r , phi , Kp_phi , Td_phi , I_xx, last_erro_phi);
+    
+    last_erro_phi = last_erro;
+    
+    tau_theta = single_axis_control (  psi_r , psi , Kp_psi , Td_psi , I_zz, last_erro_psi);
+    
+    last_erro_theta = last_erro;
+    
+    tau_psi = single_axis_control ( theta_r , theta , Kp_theta , Td_theta , I_yy, last_erro_theta);
+    
+    last_erro_psi = last_erro;
 }
 // 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 )
 float AttitudeController :: single_axis_control ( float angle_r , float angle , float K_angle , float K_rate , float I, float last_erro_angle)
 {
-    float erro=angle_r-angle;
-    float erro_p = (erro-last_erro_angle)/dt2;
-    last_erro=erro;
+    float erro = angle_r - angle;
+    float erro_p = (erro - last_erro_angle)/dt2;
+    last_erro = erro;
     float angle_2p = K_angle*(erro+1/K_rate*erro_p);
     return I*angle_2p;
 }