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https://github.com/ArduPilot/ardupilot
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c2db64116a
- addition of filter call which averages the past 4 values git-svn-id: https://arducopter.googlecode.com/svn/trunk@1224 f9c3cf11-9bcb-44bc-f272-b75c42450872
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
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/*
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AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
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infrared proximity sensor
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Code by Jose Julio and Randy Mackay. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This has the basic functions that all RangeFinders need implemented
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*/
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// AVR LibC Includes
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#include "WConstants.h"
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#include "RangeFinder.h"
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// Public Methods //////////////////////////////////////////////////////////////
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void RangeFinder::set_orientation(int x, int y, int z)
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{
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orientation_x = x;
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orientation_y = y;
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orientation_z = z;
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}
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// Protected Methods //////////////////////////////////////////////////////////
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int RangeFinder::filter(int latestValue)
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{
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int i;
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int total = 0;
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_history_ptr = (_history_ptr + 1) % AP_RANGEFINDER_NUM_AVERAGES;
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_history[_history_ptr] = latestValue;
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for(i=0; i<AP_RANGEFINDER_NUM_AVERAGES; i++ )
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total += _history[i];
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return total / AP_RANGEFINDER_NUM_AVERAGES;
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}
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