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ADC: removed the ADC level accel smoothing

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the quaternion code does a better job of handling this noise than this
filter does
This commit is contained in:
Andrew Tridgell 2012-03-05 11:26:12 +11:00
parent 8ad6b5f4d1
commit 2b6fae6e16
2 changed files with 1 additions and 41 deletions
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36
libraries/AP_ADC/AP_ADC_ADS7844.cpp
View File

@ -126,9 +126,7 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
// Constructors ////////////////////////////////////////////////////////////////
AP_ADC_ADS7844::AP_ADC_ADS7844() :
filter_result(false),
_filter_index_accel(0)
AP_ADC_ADS7844::AP_ADC_ADS7844()
{
}
@ -233,38 +231,6 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, float *result)
result[i] = (sum[i] + count[i]) / (float)count[i];
}
if(filter_result){
uint32_t _sum_accel;
// Accel filter
for (i = 0; i < 3; i++) {
// move most recent result into filter
_filter_accel[i][_filter_index_accel] = result[i+3];
// clear the sum
_sum_accel = 0;
// sum the filter
for (uint8_t n = 0; n < ADC_ACCEL_FILTER_SIZE; n++) {
_sum_accel += _filter_accel[i][n];
}
// filter does a moving average on last 8 reads, sums half with half of last filtered value
// save old result
_prev_accel[i] = result[i+3] = (_sum_accel >> 4) + (_prev_accel[i] >> 1); // divide by 16, divide by 2
}
// increment filter index
_filter_index_accel++;
// loop our filter
if(_filter_index_accel == ADC_ACCEL_FILTER_SIZE)
_filter_index_accel = 0;
}
// return number of microseconds since last call
uint32_t us = micros();
uint32_t ret = us - last_ch6_micros;

6
libraries/AP_ADC/AP_ADC_ADS7844.h
View File

@ -33,13 +33,7 @@ class AP_ADC_ADS7844 : public AP_ADC
// check if Ch6 would block
bool new_data_available(const uint8_t *channel_numbers);
bool filter_result;
private:
uint16_t _filter_accel[3][ADC_ACCEL_FILTER_SIZE];
uint16_t _prev_gyro[3];
uint16_t _prev_accel[3];
uint8_t _filter_index_accel;
static void read(uint32_t);
};