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Filter: make the DerivativeFilter test GNUPlot friendly

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makes testing easier
This commit is contained in:
Andrew Tridgell 2012-08-08 11:25:48 +10:00
parent 899eeb608b
commit 77f3b60b6f
1 changed files with 5 additions and 10 deletions
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15
libraries/Filter/examples/Derivative/Derivative.pde
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@ -35,16 +35,13 @@ mavlink_system_t mavlink_system;
FastSerialPort0(Serial); // FTDI/console
DerivativeFilter<float,7> derivative;
DerivativeFilter<float,11> derivative;
// setup routine
void setup()
{
// Open up a serial connection
Serial.begin(115200);
// introduction
Serial.printf("ArduPilot DerivativeFilter test\n");
}
static float noise(void)
@ -58,12 +55,10 @@ void loop()
delay(50);
float t = millis()*1.0e-3;
float s = sin(t);
s += noise();
//s += noise();
uint32_t t1 = micros();
float output = derivative.apply(s, t1) * 1.0e6;
derivative.update(s, t1);
float output = derivative.slope() * 1.0e6;
uint32_t t2 = micros();
Serial.printf("cos(t)=%.2f filter=%.2f tdiff=%u\n",
cos(t), output, t2-t1);
Serial.printf("%f %f %f %f\n", t, output, s, cos(t));
}