Yuri De Stefani / CrazyflieController_final

programa final

VerticalController/VerticalController.h@8:1ad52489f6f3, 2018-11-30 (annotated)

Committer:
yurindes
Date:
Fri Nov 30 19:23:29 2018 +0000
Branch:
yuri
Revision:
8:1ad52489f6f3
final;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yurindes 8:1ad52489f6f3 1 # ifndef VerticalController_h
yurindes 8:1ad52489f6f3 2 # define VerticalController_h
yurindes 8:1ad52489f6f3 3 # include "mbed.h"
yurindes 8:1ad52489f6f3 4 // Vertical controller class
yurindes 8:1ad52489f6f3 5 class VerticalController
yurindes 8:1ad52489f6f3 6 {
yurindes 8:1ad52489f6f3 7 public:
yurindes 8:1ad52489f6f3 8 // Class constructor
yurindes 8:1ad52489f6f3 9 VerticalController () ;
yurindes 8:1ad52489f6f3 10 // Control total thrust force given vertical position reference and estimation
yurindes 8:1ad52489f6f3 11 void control ( float z_r , float z, float w);
yurindes 8:1ad52489f6f3 12 // Thrust force (N)
yurindes 8:1ad52489f6f3 13 float f_t;
yurindes 8:1ad52489f6f3 14 private:
yurindes 8:1ad52489f6f3 15 // Last vertical position (m) error
yurindes 8:1ad52489f6f3 16 float z_e_last ;
yurindes 8:1ad52489f6f3 17 float kp, kd;
yurindes 8:1ad52489f6f3 18 };
yurindes 8:1ad52489f6f3 19 # endif