programa final
Library/Library.h
- Committer:
- yvesyuzo
- Date:
- 2018-10-10
- Revision:
- 1:579511e9f0b8
- Parent:
- 0:3871dc7bedf7
- Child:
- 8:1ad52489f6f3
File content as of revision 1:579511e9f0b8:
#ifndef Library_h #define Library_h //Attitude 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; // Attitude 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