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Filter: SlewLimiter definitions moved to cpp

This commit is contained in:
Randy Mackay 2023-06-02 13:22:58 +09:00 committed by Andrew Tridgell
parent ce76e896dc
commit f91cda7b6e
2 changed files with 12 additions and 11 deletions
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14
libraries/Filter/SlewLimiter.cpp
View File

@ -26,6 +26,10 @@
*/
#include "SlewLimiter.h"
#define WINDOW_MS 300 // time in msec required for a half cycle of the slowest oscillation frequency expected
#define MODIFIER_GAIN 1.5f // ratio of modifier reduction to slew rate exceedance ratio
#define DERIVATIVE_CUTOFF_FREQ 25.0f
SlewLimiter::SlewLimiter(const float &_slew_rate_max, const float &_slew_rate_tau) :
slew_rate_max(_slew_rate_max),
slew_rate_tau(_slew_rate_tau)
@ -85,7 +89,7 @@ float SlewLimiter::modifier(float sample, float dt)
// Store a series of positive slew rate exceedance events
if (!_pos_event_stored && slew_rate > slew_rate_max) {
if (_pos_event_index >= N_EVENTS) {
if (_pos_event_index >= SLEWLIMITER_N_EVENTS) {
_pos_event_index = 0;
}
_pos_event_ms[_pos_event_index] = now_ms;
@ -96,7 +100,7 @@ float SlewLimiter::modifier(float sample, float dt)
// Store a series of negative slew rate exceedance events
if (!_neg_event_stored && -slew_rate > slew_rate_max) {
if (_neg_event_index >= N_EVENTS) {
if (_neg_event_index >= SLEWLIMITER_N_EVENTS) {
_neg_event_index = 0;
}
_neg_event_ms[_neg_event_index] = now_ms;
@ -107,7 +111,7 @@ float SlewLimiter::modifier(float sample, float dt)
// Find the oldest event time
uint32_t oldest_ms = now_ms;
for (uint8_t index = 0; index < N_EVENTS; index++) {
for (uint8_t index = 0; index < SLEWLIMITER_N_EVENTS; index++) {
oldest_ms = MIN(oldest_ms, _pos_event_ms[index]);
oldest_ms = MIN(oldest_ms, _neg_event_ms[index]);
}
@ -116,8 +120,8 @@ float SlewLimiter::modifier(float sample, float dt)
// specified number of exceedance events. This prevents spikes due to control mode changed, etc causing
// unwanted gain reduction and is only applied to the slew rate used for gain reduction
float modifier_input = limited_raw_slew_rate;
if (now_ms - oldest_ms > (N_EVENTS + 1) * WINDOW_MS) {
const float oldest_time_from_window = 0.001f*(float)(now_ms - oldest_ms - (N_EVENTS + 1) * WINDOW_MS);
if (now_ms - oldest_ms > (SLEWLIMITER_N_EVENTS + 1) * WINDOW_MS) {
const float oldest_time_from_window = 0.001f*(float)(now_ms - oldest_ms - (SLEWLIMITER_N_EVENTS + 1) * WINDOW_MS);
modifier_input *= expf(-oldest_time_from_window / slew_rate_tau);
}

9
libraries/Filter/SlewLimiter.h
View File

@ -8,10 +8,7 @@
#include <stdint.h>
#include "LowPassFilter.h"
#define N_EVENTS 2 // number of positive and negative consecutive slew rate exceedance events recorded where a value of 2 corresponds to a complete cycle
#define WINDOW_MS 300 // time in msec required for a half cycle of the slowest oscillation frequency expected
#define MODIFIER_GAIN 1.5f // ratio of modifier reduction to slew rate exceedance ratio
#define DERIVATIVE_CUTOFF_FREQ 25.0f
#define SLEWLIMITER_N_EVENTS 2 // number of positive and negative consecutive slew rate exceedance events recorded where a value of 2 corresponds to a complete cycle
class SlewLimiter {
public:
@ -45,8 +42,8 @@ private:
uint32_t _max_neg_slew_event_ms;
uint8_t _pos_event_index;
uint8_t _neg_event_index;
uint32_t _pos_event_ms[N_EVENTS];
uint32_t _neg_event_ms[N_EVENTS];
uint32_t _pos_event_ms[SLEWLIMITER_N_EVENTS];
uint32_t _neg_event_ms[SLEWLIMITER_N_EVENTS];
bool _pos_event_stored;
bool _neg_event_stored;
};