Yuri De Stefani / CrazyflieController_final

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Show/hide line numbers VerticalController.h Source File

VerticalController.h

00001 # ifndef VerticalController_h
00002 # define VerticalController_h
00003 # include "mbed.h"
00004 // Vertical controller class
00005 class VerticalController
00006 {
00007     public:
00008         // Class constructor
00009         VerticalController () ;
00010         // Control total thrust force given vertical position reference and estimation
00011         void control ( float z_r , float z, float w);
00012         // Thrust force (N)
00013         float f_t;
00014     private:
00015         // Last vertical position (m) error
00016         float z_e_last ;
00017         float kp, kd;
00018 };
00019 # endif
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