Yuri De Stefani / CrazyflieController_final

programa final

Library/Library.h

Committer:
yvesyuzo
Date:
2018-10-10
Revision:
0:3871dc7bedf7
Child:
1:579511e9f0b8

File content as of revision 0:3871dc7bedf7:

#ifndef Library_h
#define Library_h
//Altitude Controller VARIABLES
float const dt2 = 0.005f;
// Controller gains and /or time constants
float const Kp_phi = 3.63*1.96;
float const Kp_theta = Kp_phi;
float const Td_phi = 1.96;
float const Td_theta = Td_phi;
float const Kp_psi = 2.57*0.81;
float const Td_psi = 0.81;
// Quadcopter moments of inertia (kg.m ^2)
float const I_xx = 16.0e-6f;
float const I_yy = 16.0e-6f;
float const I_zz = 29.0e-6f;
// ALTITUDE Estimator constants
 float const pi = 3.14159265f;
 float const dt = 0.005f;
 float const rho = 0.05f;
 // Mixer
const float alpha = 1.081E-7;
const float beta = 2.678E-11;
const float kl = 2.69E-8;
const float kd = 1.59E-10;
const float l = 33E-3;
# endif