From d18262b729b29fb00cacfd9e8ce144ca5146655c Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 8 Jul 2011 03:58:19 +0000
Subject: [PATCH] Added heavily filtered Accelerometer values for
 experimentation.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2779 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_IMU/AP_IMU_Oilpan.cpp | 4 ++++
 libraries/AP_IMU/IMU.h             | 7 +++++++
 2 files changed, 11 insertions(+)

diff --git a/libraries/AP_IMU/AP_IMU_Oilpan.cpp b/libraries/AP_IMU/AP_IMU_Oilpan.cpp
index f4de20ac96..5af178e60d 100644
--- a/libraries/AP_IMU/AP_IMU_Oilpan.cpp
+++ b/libraries/AP_IMU/AP_IMU_Oilpan.cpp
@@ -278,6 +278,10 @@ AP_IMU_Oilpan::update(void)
 	_accel.y = _accel_scale * _sensor_in(4, tc_temp);
 	_accel.z = _accel_scale * _sensor_in(5, tc_temp);
 
+	_accel_filtered.x = _accel_filtered.x * .98 + _accel.x * .02;
+	_accel_filtered.y = _accel_filtered.y * .98 + _accel.y * .02;
+	_accel_filtered.z = _accel_filtered.z * .98 + _accel.z * .02;
+
 	// always updated
 	return true;
 }
diff --git a/libraries/AP_IMU/IMU.h b/libraries/AP_IMU/IMU.h
index bea43fddd0..6e31c394e5 100644
--- a/libraries/AP_IMU/IMU.h
+++ b/libraries/AP_IMU/IMU.h
@@ -70,6 +70,12 @@ public:
 	///
 	Vector3f		get_accel(void) { return _accel; }
 
+	/// Fetch the current accelerometer values
+	///
+	/// @returns	vector of current accelerations in m/s/s
+	///
+	Vector3f		get_accel_filtered(void) { return _accel_filtered; }
+
 	/// A count of bad sensor readings
 	///
 	/// @todo This should be renamed, as there's no guarantee that sensors
@@ -80,6 +86,7 @@ public:
 protected:
 	/// Most recent accelerometer reading obtained by ::update
 	Vector3f		_accel;
+	Vector3f		_accel_filtered;
 
 	/// Most recent gyro reading obtained by ::update
 	Vector3f		_gyro;