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Lead Filter: simplified calculation

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This commit is contained in:
Jason Short 2012-07-18 11:09:05 -07:00
parent f704408094
commit 8a4a9a929e
1 changed files with 12 additions and 1 deletions
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13
libraries/AP_LeadFilter/AP_LeadFilter.cpp
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@ -17,7 +17,7 @@
#include "AP_LeadFilter.h" #include "AP_LeadFilter.h"
// setup the control preferences /*
int32_t int32_t
AP_LeadFilter::get_position(int32_t pos, int16_t vel) AP_LeadFilter::get_position(int32_t pos, int16_t vel)
{ {
@ -27,3 +27,14 @@ AP_LeadFilter::get_position(int32_t pos, int16_t vel)
_last_velocity = vel; _last_velocity = vel;
return pos; return pos;
} }
*/
// setup the control preferences
int32_t
AP_LeadFilter::get_position(int32_t pos, int16_t vel)
{
// assumes a 1 second delay in the GPS
int16_t acc = vel - _last_velocity;
_last_velocity = vel;
return pos + vel + acc;
}