28 lines
646 B
C
28 lines
646 B
C
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#pragma once
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/* slew rate limiting filter. This is used to prevent oscillation of a
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* controller by modifying the controllers output based on a maximum
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* slew rate
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*/
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#include <stdint.h>
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#include "LowPassFilter.h"
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class SlewLimiter {
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public:
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SlewLimiter(const float &slew_rate_max, const float &slew_rate_tau);
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/*
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apply filter to sample, returning multiplier between 0 and 1 to keep
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output within slew rate
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*/
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float modifier(float sample, float dt);
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private:
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const float &slew_rate_max;
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const float &slew_rate_tau;
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LowPassFilterFloat slew_filter;
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float slew_amplitude;
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float last_sample;
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};
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