File content as of revision 2:54fabc943f25:

#include "mbed.h"
#include "AttitudeController.h"
#include "Library.h"


// Class constructor
AttitudeController :: AttitudeController ()
{
}
// 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;
    
    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 angle_2p = K_angle*(erro+1/K_rate*erro_p);
    return I*angle_2p;
}