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Filter: example: TransferFunctionCheck: override constant dt filter

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Iampete1 2024-07-27 13:15:17 +01:00 committed by Andrew Tridgell
parent ee8a8f0254
commit 7d7333a91f
1 changed files with 5 additions and 5 deletions
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10
libraries/Filter/examples/TransferFunctionCheck/TransferFunctionCheck.cpp
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@ -16,20 +16,20 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
// Some helper classes to allow accessing protected variables, also useful for adding type specific prints
class LowPassHelper : public LowPassFilterFloat {
class LowPassHelper : public LowPassFilterConstDtFloat {
public:
using LowPassFilterFloat::LowPassFilterFloat;
using LowPassFilterConstDtFloat::LowPassFilterConstDtFloat;
void set_cutoff_frequency_override(float sample_freq, float cutoff_freq) {
void set_cutoff_frequency_override(float sample_freq, float new_cutoff_freq) {
// Stash the sample rate so we can use it later
_sample_freq = sample_freq;
set_cutoff_frequency(sample_freq, cutoff_freq);
set_cutoff_frequency(sample_freq, new_cutoff_freq);
}
// Were really cheating here and using the same method as the filter to get the coefficient
// rather than pulling the coefficient directly
void print_transfer_function() {
hal.console->printf("LowPassFilterFloat\n");
hal.console->printf("LowPassFilterConstDtFloat\n");
hal.console->printf("Sample rate: %.9f Hz, Cutoff: %.9f Hz\n", _sample_freq, get_cutoff_freq());
hal.console->printf("Low pass filter in the form: H(z) = a/(1-(1-a)*z^-1)\n");
hal.console->printf("a: %.9f\n", calc_lowpass_alpha_dt(1.0/_sample_freq, get_cutoff_freq()));