Yuri De Stefani / CrazyflieController_final

programa final

VerticalController/VerticalController.h

Committer:
yurindes
Date:
2018-11-30
Branch:
yuri
Revision:
8:1ad52489f6f3

File content as of revision 8:1ad52489f6f3:

# 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