ModeFilter - remove older ModeFilter library (new library is now in Filter directory)

This commit is contained in:
rmackay9 2012-02-26 15:36:23 +09:00
parent 6363da2829
commit 3f0d27ec87
5 changed files with 0 additions and 174 deletions

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/*
ModeFilter.cpp - Mode Filter Library for Ardupilot Mega. Arduino
Code by Jason Short. DIYDrones.com
Adapted from code by Jason Lessels(June 6, 2011), Bill Gentles (Nov. 12, 2010)
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include "ModeFilter.h"
#include <avr/interrupt.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
// Constructors ////////////////////////////////////////////////////////////////
ModeFilter::ModeFilter() :
_sample_index(0)
{
}
// Public Methods //////////////////////////////////////////////////////////////
//Sorting function
// sort function (Author: Bill Gentles, Nov. 12, 2010)
// *a is an array pointer function
int ModeFilter::get_filtered_with_sample(int _sample){
_samples[_sample_index] = _sample;
_sample_index++;
if (_sample_index >= MOD_FILTER_SIZE)
_sample_index = 0;
isort();
return mode();
}
void ModeFilter::isort()
{
for (int i = 1; i < MOD_FILTER_SIZE; ++i) {
int j = _samples[i];
int k;
for (k = i - 1; (k >= 0) && (j < _samples[k]); k--){
_samples[k + 1] = _samples[k];
}
_samples[k + 1] = j;
}
}
//Mode function, returning the mode or median.
int16_t ModeFilter::mode(){
int fmode = 0;
byte i = 0;
byte count = 0;
byte maxCount = 0;
byte bimodal = 0;
while(count > maxCount){
fmode = _samples[i];
maxCount = count;
bimodal = 0;
}
if(count == 0) i++;
if(count == maxCount){ //If the dataset has 2 or more modes.
bimodal = 1;
}
if(fmode == 0 || bimodal == 1){ //Return the median if there is no mode.
fmode = _samples[(MOD_FILTER_SIZE / 2)];
}
return fmode;
}

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#ifndef ModeFilter_h
#define ModeFilter_h
#define MOD_FILTER_SIZE 6
#include <inttypes.h>
class ModeFilter
{
private:
public:
ModeFilter();
int get_filtered_with_sample(int _sample);
int16_t _samples[MOD_FILTER_SIZE];
private:
void isort();
int16_t mode();
int8_t _sample_index;
};
#endif

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BOARD = mega
include ../../../AP_Common/Arduino.mk

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/*
Example of APM_RC library.
Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
Print Input values and send Output to the servos
(Works with last PPM_encoder firmware)
*/
#include <ModeFilter.h> // ArduPilot Mega RC Library
int rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};
ModeFilter mfilter;
byte i = 0;
void setup()
{
//Open up a serial connection
Serial.begin(115200);
//Wait for the serial connection
delay(500);
}
//Main loop where the action takes place
void loop()
{
while(i < 9){
printArray(mfilter._samples, 6);
int modE = mfilter.get_filtered_with_sample(rangevalue[i]);
i++;
Serial.print("The mode/median is: ");
Serial.print(modE);
Serial.println();
}
delay(100000);
}
/*-----------Functions------------*/
//Function to print the arrays.
void printArray(int *a, int n)
{
for (int i = 0; i < n; i++)
{
Serial.print(a[i], DEC);
Serial.print(' ');
}
Serial.println();
}

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APM_RC KEYWORD1
begin KEYWORD2
InputCh KEYWORD2
OutputCh KEYWORD2
GetState KEYWORD2
Force_Out0_Out1 KEYWORD2
Force_Out2_Out3 KEYWORD2
Force_Out6_Out7 KEYWORD2