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ModeFilter: Add get() method and support for Float type

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Robert Lefebvre 2015-11-19 20:59:39 -05:00 committed by Andrew Tridgell
parent 9848d05a9d
commit 77877ba5fc
1 changed files with 13 additions and 2 deletions
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15
libraries/Filter/ModeFilter.h
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@ -35,9 +35,15 @@ public:
// apply - Add a new raw value to the filter, retrieve the filtered result // apply - Add a new raw value to the filter, retrieve the filtered result
virtual T apply(T sample); virtual T apply(T sample);
// get - get latest filtered value from filter (equal to the value returned by latest call to apply method)
virtual T get() const {
return _output;
}
private: private:
// private methods // private methods
uint8_t _return_element; uint8_t _return_element;
T _output;
void isort(T sample, bool drop_high_sample); void isort(T sample, bool drop_high_sample);
bool drop_high_sample; // switch to determine whether to drop the highest or lowest sample when new value arrives bool drop_high_sample; // switch to determine whether to drop the highest or lowest sample when new value arrives
}; };
@ -63,6 +69,11 @@ typedef ModeFilter<uint16_t,4> ModeFilterUInt16_Size4;
typedef ModeFilter<uint16_t,5> ModeFilterUInt16_Size5; typedef ModeFilter<uint16_t,5> ModeFilterUInt16_Size5;
typedef ModeFilter<uint16_t,6> ModeFilterUInt16_Size6; typedef ModeFilter<uint16_t,6> ModeFilterUInt16_Size6;
typedef ModeFilter<uint16_t,7> ModeFilterUInt16_Size7; typedef ModeFilter<uint16_t,7> ModeFilterUInt16_Size7;
typedef ModeFilter<float,3> ModeFilterFloat_Size3;
typedef ModeFilter<float,4> ModeFilterFloat_Size4;
typedef ModeFilter<float,5> ModeFilterFloat_Size5;
typedef ModeFilter<float,6> ModeFilterFloat_Size6;
typedef ModeFilter<float,7> ModeFilterFloat_Size7;
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
@ -91,10 +102,10 @@ T ModeFilter<T,FILTER_SIZE>:: apply(T sample)
// return results // return results
if( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) { if( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
// middle sample if buffer is not yet full // middle sample if buffer is not yet full
return FilterWithBuffer<T,FILTER_SIZE>::samples[(FilterWithBuffer<T,FILTER_SIZE>::sample_index / 2)]; return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[(FilterWithBuffer<T,FILTER_SIZE>::sample_index / 2)];
}else{ }else{
// return element specified by user in constructor // return element specified by user in constructor
return FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element]; return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element];
} }
} }