Yuri De Stefani / CrazyflieController_final

programa final

VerticalEstimator/VerticalEstimator.h

Committer:
yurindes
Date:
2018-11-30
Branch:
yuri
Revision:
8:1ad52489f6f3
Parent:
5:b1f5ea192d12

File content as of revision 8:1ad52489f6f3:

#ifndef VerticalEstimator_h
#define VerticalEstimator_h

#include "mbed.h"
#include "Library.h"
#include "VL53L0X.h"


// Vertical estimator class
class VerticalEstimator
{
public :
//Class constructor
    VerticalEstimator () ;
// Initialize class
    void init () ;
// Predict vertical position and velocity from model
    void predict () ;
// Correct vertical position and velocity with measurement
    void correct (float phi, float theta);
// Vertical position (m) and velocity (m/s) estimation
    float w_est, z_est;

private :
// Range sensor object
    VL53L0X range ;
// Last vertical position (m) measurement
    float z, w, zml, wm, zm;
};

# endif