mirror of https://github.com/ArduPilot/ardupilot
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
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rmackay9
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6363da2829
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/*
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ModeFilter.cpp - Mode Filter Library for Ardupilot Mega. Arduino
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Code by Jason Short. DIYDrones.com
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Adapted from code by Jason Lessels(June 6, 2011), Bill Gentles (Nov. 12, 2010)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include "ModeFilter.h"
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#include <avr/interrupt.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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ModeFilter::ModeFilter() :
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_sample_index(0)
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{
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}
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// Public Methods //////////////////////////////////////////////////////////////
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//Sorting function
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// sort function (Author: Bill Gentles, Nov. 12, 2010)
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// *a is an array pointer function
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int ModeFilter::get_filtered_with_sample(int _sample){
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_samples[_sample_index] = _sample;
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_sample_index++;
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if (_sample_index >= MOD_FILTER_SIZE)
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_sample_index = 0;
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isort();
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return mode();
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}
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void ModeFilter::isort()
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{
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for (int i = 1; i < MOD_FILTER_SIZE; ++i) {
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int j = _samples[i];
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int k;
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for (k = i - 1; (k >= 0) && (j < _samples[k]); k--){
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_samples[k + 1] = _samples[k];
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}
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_samples[k + 1] = j;
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}
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}
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//Mode function, returning the mode or median.
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int16_t ModeFilter::mode(){
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int fmode = 0;
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byte i = 0;
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byte count = 0;
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byte maxCount = 0;
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byte bimodal = 0;
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while(count > maxCount){
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fmode = _samples[i];
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maxCount = count;
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bimodal = 0;
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}
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if(count == 0) i++;
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if(count == maxCount){ //If the dataset has 2 or more modes.
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bimodal = 1;
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}
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if(fmode == 0 || bimodal == 1){ //Return the median if there is no mode.
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fmode = _samples[(MOD_FILTER_SIZE / 2)];
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}
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return fmode;
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}
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@ -1,26 +0,0 @@
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#ifndef ModeFilter_h
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#define ModeFilter_h
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#define MOD_FILTER_SIZE 6
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#include <inttypes.h>
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class ModeFilter
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{
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private:
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public:
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ModeFilter();
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int get_filtered_with_sample(int _sample);
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int16_t _samples[MOD_FILTER_SIZE];
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private:
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void isort();
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int16_t mode();
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int8_t _sample_index;
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};
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#endif
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@ -1,2 +0,0 @@
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BOARD = mega
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include ../../../AP_Common/Arduino.mk
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@ -1,51 +0,0 @@
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/*
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Example of APM_RC library.
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Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
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Print Input values and send Output to the servos
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(Works with last PPM_encoder firmware)
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*/
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#include <ModeFilter.h> // ArduPilot Mega RC Library
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int rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};
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ModeFilter mfilter;
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byte i = 0;
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void setup()
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{
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//Open up a serial connection
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Serial.begin(115200);
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//Wait for the serial connection
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delay(500);
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}
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//Main loop where the action takes place
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void loop()
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{
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while(i < 9){
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printArray(mfilter._samples, 6);
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int modE = mfilter.get_filtered_with_sample(rangevalue[i]);
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i++;
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Serial.print("The mode/median is: ");
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Serial.print(modE);
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Serial.println();
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}
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delay(100000);
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}
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/*-----------Functions------------*/
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//Function to print the arrays.
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void printArray(int *a, int n)
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{
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for (int i = 0; i < n; i++)
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{
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Serial.print(a[i], DEC);
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Serial.print(' ');
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}
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Serial.println();
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}
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@ -1,8 +0,0 @@
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APM_RC KEYWORD1
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begin KEYWORD2
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InputCh KEYWORD2
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OutputCh KEYWORD2
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GetState KEYWORD2
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Force_Out0_Out1 KEYWORD2
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Force_Out2_Out3 KEYWORD2
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Force_Out6_Out7 KEYWORD2
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