Library.h

00001 #ifndef Library_h
00002 #define Library_h
00003 //Attitude Controller VARIABLES
00004 float const dt_alti = 0.005f;
00005 // Controller gains and /or time constants
00006 float const Kp_phi = 200;
00007 float const Kp_theta = Kp_phi;
00008 float const Td_phi = 30;
00009 float const Td_theta = Td_phi;
00010 float const Kp_psi = 2.57*0.81*2.5*10;
00011 float const Td_psi = 0.81*10*1.2;
00012 // Quadcopter moments of inertia (kg.m ^2)
00013 float const I_xx = 16.0e-6f;
00014 float const I_yy = 16.0e-6f;
00015 float const I_zz = 29.0e-6f;
00016 // Attitude Estimator constants
00017  float const pi = 3.14159265f;
00018  float const dt = 0.005f;
00019  float const rho = 0.05f;
00020  // Mixer
00021 const float alpha = 1.081E-7;
00022 const float beta = 2.678E-11;
00023 const float kl = 2.69E-8;
00024 const float kd = 1.59E-10;
00025 const float l = 33E-3;
00026 const float m = 0.03f;
00027 const float g = 9.81f;
00028 //verrtical
00029 const float p_verti = 0.3f;
00030 const float dt_ver_pre=0.002f;
00031 const float dt_ver_cor=0.05f;
00032 const float dt_range=0.02f;
00033 
00034 //horizontal
00035 float kp_hori = 1.35f;
00036 float kd_hori = 2;
00037 
00038 # endif