mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/Filter/DerivativeFilter.cpp
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@ -29,12 +29,12 @@ void DerivativeFilter<T,FILTER_SIZE>::update(T sample, uint32_t timestamp)
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// this is not a new timestamp - ignore
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// this is not a new timestamp - ignore
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return;
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return;
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}
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}
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// add timestamp before we apply to FilterWithBuffer
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// add timestamp before we apply to FilterWithBuffer
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_timestamps[i] = timestamp;
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_timestamps[i] = timestamp;
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// call parent's apply function to get the sample into the array
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// call parent's apply function to get the sample into the array
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FilterWithBuffer<T,FILTER_SIZE>::apply(sample);
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FilterWithBuffer<T,FILTER_SIZE>::apply(sample);
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_new_data = true;
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_new_data = true;
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}
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}
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@ -47,12 +47,12 @@ float DerivativeFilter<T,FILTER_SIZE>::slope(void)
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return _last_slope;
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return _last_slope;
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}
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}
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float result = 0;
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float result = 0;
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// use f() to make the code match the maths a bit better. Note
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// use f() to make the code match the maths a bit better. Note
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// that unlike an average filter, we care about the order of the elements
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// that unlike an average filter, we care about the order of the elements
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#define f(i) FilterWithBuffer<T,FILTER_SIZE>::samples[(((FilterWithBuffer<T,FILTER_SIZE>::sample_index-1)+i+1)+3*FILTER_SIZE/2) % FILTER_SIZE]
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#define f(i) FilterWithBuffer<T,FILTER_SIZE>::samples[(((FilterWithBuffer<T,FILTER_SIZE>::sample_index-1)+i+1)+3*FILTER_SIZE/2) % FILTER_SIZE]
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#define x(i) _timestamps[(((FilterWithBuffer<T,FILTER_SIZE>::sample_index-1)+i+1)+3*FILTER_SIZE/2) % FILTER_SIZE]
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#define x(i) _timestamps[(((FilterWithBuffer<T,FILTER_SIZE>::sample_index-1)+i+1)+3*FILTER_SIZE/2) % FILTER_SIZE]
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if (_timestamps[FILTER_SIZE-1] == _timestamps[FILTER_SIZE-2]) {
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if (_timestamps[FILTER_SIZE-1] == _timestamps[FILTER_SIZE-2]) {
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// we haven't filled the buffer yet - assume zero derivative
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// we haven't filled the buffer yet - assume zero derivative
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@ -63,28 +63,28 @@ float DerivativeFilter<T,FILTER_SIZE>::slope(void)
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switch (FILTER_SIZE) {
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switch (FILTER_SIZE) {
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case 5:
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case 5:
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result = 2*2*(f(1) - f(-1)) / (x(1) - x(-1))
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result = 2*2*(f(1) - f(-1)) / (x(1) - x(-1))
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+ 4*1*(f(2) - f(-2)) / (x(2) - x(-2));
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+ 4*1*(f(2) - f(-2)) / (x(2) - x(-2));
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result /= 8;
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result /= 8;
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break;
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break;
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case 7:
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case 7:
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result = 2*5*(f(1) - f(-1)) / (x(1) - x(-1))
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result = 2*5*(f(1) - f(-1)) / (x(1) - x(-1))
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+ 4*4*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 4*4*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 6*1*(f(3) - f(-3)) / (x(3) - x(-3));
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+ 6*1*(f(3) - f(-3)) / (x(3) - x(-3));
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result /= 32;
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result /= 32;
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break;
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break;
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case 9:
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case 9:
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result = 2*14*(f(1) - f(-1)) / (x(1) - x(-1))
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result = 2*14*(f(1) - f(-1)) / (x(1) - x(-1))
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+ 4*14*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 4*14*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 6* 6*(f(3) - f(-3)) / (x(3) - x(-3))
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+ 6* 6*(f(3) - f(-3)) / (x(3) - x(-3))
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+ 8* 1*(f(4) - f(-4)) / (x(4) - x(-4));
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+ 8* 1*(f(4) - f(-4)) / (x(4) - x(-4));
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result /= 128;
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result /= 128;
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break;
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break;
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case 11:
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case 11:
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result = 2*42*(f(1) - f(-1)) / (x(1) - x(-1))
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result = 2*42*(f(1) - f(-1)) / (x(1) - x(-1))
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+ 4*48*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 4*48*(f(2) - f(-2)) / (x(2) - x(-2))
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+ 6*27*(f(3) - f(-3)) / (x(3) - x(-3))
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+ 6*27*(f(3) - f(-3)) / (x(3) - x(-3))
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+ 8* 8*(f(4) - f(-4)) / (x(4) - x(-4))
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+ 8* 8*(f(4) - f(-4)) / (x(4) - x(-4))
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+ 10* 1*(f(5) - f(-5)) / (x(5) - x(-5));
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+ 10* 1*(f(5) - f(-5)) / (x(5) - x(-5));
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result /= 512;
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result /= 512;
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break;
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break;
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default:
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default:
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@ -107,8 +107,8 @@ float DerivativeFilter<T,FILTER_SIZE>::slope(void)
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template <class T, uint8_t FILTER_SIZE>
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template <class T, uint8_t FILTER_SIZE>
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void DerivativeFilter<T,FILTER_SIZE>::reset(void)
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void DerivativeFilter<T,FILTER_SIZE>::reset(void)
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{
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{
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// call parent's apply function to get the sample into the array
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// call parent's apply function to get the sample into the array
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FilterWithBuffer<T,FILTER_SIZE>::reset();
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FilterWithBuffer<T,FILTER_SIZE>::reset();
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}
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}
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// add new instances as needed here
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// add new instances as needed here
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