Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Filter: use calc_lowpass_alpha_dt()

This commit is contained in:
Andrew Tridgell 2020-11-08 21:57:01 +11:00
parent cdcf32d22c
commit b0f0c8d842
1 changed files with 3 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/Filter/LowPassFilter.cpp
View File

@ -38,12 +38,10 @@ T DigitalLPF<T>::apply(const T &sample) {
template <class T>
void DigitalLPF<T>::compute_alpha(float sample_freq, float cutoff_freq) {
if (cutoff_freq <= 0.0f || sample_freq <= 0.0f) {
alpha = 1.0;
if (sample_freq <= 0) {
alpha = 1;
} else {
float dt = 1.0/sample_freq;
float rc = 1.0f/(M_2PI*cutoff_freq);
alpha = constrain_float(dt/(dt+rc), 0.0f, 1.0f);
alpha = calc_lowpass_alpha_dt(1.0/sample_freq, cutoff_freq);
}
}