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Filter - updated example sketch to use modified library

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This commit is contained in:
rmackay9 2012-02-28 21:01:35 +09:00
parent d17a015df1
commit 5b89c65d9c
1 changed files with 9 additions and 11 deletions
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20
libraries/Filter/examples/Filter/Filter.pde
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@ -7,27 +7,25 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <Filter.h> // Filter library
#include <ModeFilter.h> // ModeFilter library (inherits from Filter class)
#include <SumFilter.h>
#include <ModeFilter.h> // ModeFilter class (inherits from Filter class)
#include <AverageFilter.h> // AverageFilter class (inherits from Filter class)
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
FastSerialPort0(Serial); // FTDI/console
//typedef ModeFilter<int16_t> IntModeFilter;
//typedef SumFilter<int16_t> IntSumFilter;
int16_t rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};
// create a global instance of the class instead of local to avoid memory fragmentation
ModeFilterInt16 mfilter(5,2); // buffer of 5 values, result will be from buffer element 2 (ie. the 3rd element which is the middle)
//SumFilterInt16 mfilter(5);
ModeFilterInt16_Size5 mfilter(2); // buffer of 5 values, result will be from buffer element 2 (ie. the 3rd element which is the middle)
//AverageFilterInt16_Size5 mfilter; // buffer of 5 values. result will be average of these 5
//Function to print contents of a filter
void printFilter(Filter<int16_t>& filter)
// Function to print contents of a filter
// we need to ues FilterWithBuffer class because we want to access the individual elements
void printFilter(FilterWithBufferInt16_Size5& filter)
{
for(int8_t i=0; i < filter.filter_size; i++)
for(uint8_t i=0; i < filter.get_filter_size(); i++)
{
Serial.printf("%d ",(int)filter.samples[i]);
}
@ -49,7 +47,7 @@ void setup()
//Main loop where the action takes place
void loop()
{
int8_t i = 0;
uint8_t i = 0;
int16_t filtered_value;
while( i < 9 ) {