Yuri De Stefani
/
VerticalController
Controlador vertical
VerticalController.h
- Committer:
- yurindes
- Date:
- 2018-10-24
- Revision:
- 0:115db3c33311
File content as of revision 0:115db3c33311:
# ifndef VerticalController_h # define VerticalController_h # include "mbed.h" # include "Parameters.h" // Vertical controller class class VerticalController { public: // Class constructor VerticalController () ; // Control total thrust force given vertical position reference and estimation void control ( float z_r , float z, float w); // Thrust force (N) float f_t; private: // Last vertical position (m) error float z_e_last ; float kp, kd; }; # endif