Crate embedded_flight

use embedded_flight::control::PositionController;
use nalgebra::Vector3;

// Current state of the craft
let position = Vector3::zeros();
let velocity = Vector3::new(1., 1., 1.);
let attitude = Vector3::zeros();
let gyro = Vector3::zeros();

// Jerk moments of position and velocity to apply
let position_cmd = Vector3::new(1., 1., 1.);
let velocity_cmd = Vector3::new(0., 0., 1.);

let controller = PositionController::default();

let moment = controller.position_control(
    position_cmd,
    velocity_cmd,
    position,
    velocity,
    attitude,
    gyro
);
dbg!(moment);

Re-exports

pub use embedded_flight_control as control;

pub use embedded_flight_motors as motors;

Structs

Copter