mirror of https://github.com/ArduPilot/ardupilot
Added a slew rate limit
reworked filter, same results, just wanted to get rid of modulus. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2900 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -16,6 +16,7 @@
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#include "WConstants.h"
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#include "RangeFinder.h"
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// Constructor /////////////////////////////////////////////////////////////////
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RangeFinder::RangeFinder() :
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_ap_adc(NULL),
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@ -65,88 +66,60 @@ int RangeFinder::read()
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// local variables
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int temp_dist;
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int total = 0;
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int i;
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// read from the analog port or pitot tube
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if( _analogPort == AP_RANGEFINDER_PITOT_TUBE ) {
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if( _ap_adc != NULL )
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if( _ap_adc != NULL ){
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raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; // values from ADC are twice as big as you'd expect
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else
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raw_value = 0;
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}else{
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raw_value = 0;
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}
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}else{
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// read raw sensor value and convert to distance
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raw_value = analogRead(_analogPort);
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// read raw sensor value and convert to distance
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raw_value = analogRead(_analogPort);
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}
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// convert analog value to distance in cm (using child implementation most likely)
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temp_dist = convert_raw_to_distance(raw_value);
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raw_value = convert_raw_to_distance(raw_value);
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// ensure distance is within min and max
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distance = constrain(temp_dist, min_distance, max_distance);
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raw_value = constrain(raw_value, min_distance, max_distance);
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// filter the results
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if( _num_averages > 1 )
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{
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_history_ptr = (_history_ptr + 1) % _num_averages;
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_history[_history_ptr] = distance;
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for(i=0; i<_num_averages; i++ )
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total += _history[i];
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distance = total / _num_averages;
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}
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//distance = raw_value;
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// slew rate
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if(raw_value > distance){
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temp_dist = min(distance + 10, raw_value);
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}else{
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temp_dist = max(distance - 10, raw_value);
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}
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if(_num_averages > 0){
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// filter the results
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// ------------------
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// add to filter
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_history[_history_ptr] = temp_dist;
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// increment our filter
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_history_ptr++;
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// loop our filter
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if(_history_ptr == AP_RANGEFINDER_NUM_AVERAGES)
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_history_ptr = 0;
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// sum our filter
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for(uint8_t i = 0; i < AP_RANGEFINDER_NUM_AVERAGES; i++){
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total += _history[i];
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}
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// average our sampels
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distance = total / AP_RANGEFINDER_NUM_AVERAGES;
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}else{
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distance = temp_dist;
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}
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// return distance
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return distance;
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}
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/*
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// Read Sensor data - only the raw_value is filled in by this parent class
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int RangeFinder::read()
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{
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// local variables
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int temp_dist;
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int total = 0;
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int i;
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// read from the analog port or pitot tube
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if(_analogPort == AP_RANGEFINDER_PITOT_TUBE){
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if(_ap_adc != NULL){
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raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; // values from ADC are twice as big as you'd expect
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}else{
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raw_value = 0;
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}
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// convert analog value to distance in cm (using child implementation most likely)
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temp_dist = convert_raw_to_distance(raw_value);
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// ensure distance is within min and max
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distance = constrain(temp_dist, min_distance, max_distance);
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// return distance
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return distance;
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}else{
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// read raw sensor value and convert to distance
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raw_value = analogRead(_analogPort);
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// convert analog value to distance in cm (using child implementation most likely)
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temp_dist = convert_raw_to_distance(raw_value);
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// ensure distance is within min and max
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distance = constrain(temp_dist, min_distance, max_distance);
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// filter the results
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if( _num_averages > 1 ){
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_history_ptr = (_history_ptr + 1) % _num_averages;
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_history[_history_ptr] = distance;
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for(i = 0; i < _num_averages; i++ ) total += _history[i];
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distance = total / _num_averages;
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}
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// return distance
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return distance;
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}
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}
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*/
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