control

Documentation

Overview

Package control implements flight stablization.

Index

• type Control
  • func NewControl(roll, pitch, yaw []float64) *Control
  • func (c *Control) Set(s attitude.Attitude, throttle float64)
  • func (c *Control) Update(a attitude.Attitude) (speeds [4]float64)

Types

type Control

type Control struct {
	// contains filtered or unexported fields
}

Control determines how to translate a given setpoint and measured attitude into motor output.

func NewControl

func NewControl(roll, pitch, yaw []float64) *Control

NewControl returns a new Control with the given roll, pitch and yaw PID values.

func (*Control) Set

func (c *Control) Set(s attitude.Attitude, throttle float64)

Set sets the desired attitude and throttle setpoint. For now it does not support altitude stabilization.

func (*Control) Update

func (c *Control) Update(a attitude.Attitude) (speeds [4]float64)

Update takes the last measured attitude and converts it into motor outputs to correct it towards the setpoint.