a1af0c2051
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
112 lines
4.0 KiB
C++
112 lines
4.0 KiB
C++
|
|
#ifndef __FILTER_BUTTER_H__
|
|
#define __FILTER_BUTTER_H__
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
template <typename Coefficients>
|
|
class Butter2
|
|
{
|
|
public:
|
|
float filter(float input)
|
|
{
|
|
float newhist = input + Coefficients::A1*hist[1] + Coefficients::A2*hist[0];
|
|
float ret = (newhist + 2*hist[1] + hist[0])/Coefficients::GAIN;
|
|
hist[0] = hist[1]; hist[1] = newhist;
|
|
return ret;
|
|
}
|
|
private:
|
|
float hist[2];
|
|
};
|
|
|
|
struct butter100_025_coeffs
|
|
{
|
|
static constexpr float A1 = 1.9777864838f;
|
|
static constexpr float A2 = -0.9780305085f;
|
|
static constexpr float GAIN = 1.639178228e+04f;
|
|
};
|
|
typedef Butter2<butter100_025_coeffs> butter100hz0_25; //100hz sample, 0.25hz fcut
|
|
typedef Butter2<butter100_025_coeffs> butter50hz0_125; //50hz sample, 0.125hz fcut
|
|
typedef Butter2<butter100_025_coeffs> butter10hz0_025; //10hz sample, 0.025hz fcut
|
|
|
|
struct butter100_05_coeffs
|
|
{
|
|
static constexpr float A1 = 1.9555782403f;
|
|
static constexpr float A2 = -0.9565436765f;
|
|
static constexpr float GAIN = 4.143204922e+03f;
|
|
};
|
|
typedef Butter2<butter100_05_coeffs> butter100hz0_5; //100hz sample, 0.5hz fcut
|
|
typedef Butter2<butter100_05_coeffs> butter50hz0_25; //50hz sample, 0.25hz fcut
|
|
typedef Butter2<butter100_05_coeffs> butter10hz0_05; //10hz sample, 0.05hz fcut
|
|
|
|
struct butter100_1_coeffs
|
|
{
|
|
static constexpr float A1 = 1.9111970674f;
|
|
static constexpr float A2 = -0.9149758348f;
|
|
static constexpr float GAIN = 1.058546241e+03f;
|
|
};
|
|
typedef Butter2<butter100_1_coeffs> butter100hz1_0; //100hz sample, 1hz fcut
|
|
typedef Butter2<butter100_1_coeffs> butter50hz0_5; //50hz sample, 0.5hz fcut
|
|
typedef Butter2<butter100_1_coeffs> butter10hz0_1; //10hz sample, 0.1hz fcut
|
|
|
|
struct butter100_1_5_coeffs
|
|
{
|
|
static constexpr float A1 = 1.8668922797f;
|
|
static constexpr float A2 = -0.8752145483f;
|
|
static constexpr float GAIN = 4.806381793e+02f;
|
|
};
|
|
typedef Butter2<butter100_1_5_coeffs> butter100hz1_5; //100hz sample, 1.5hz fcut
|
|
typedef Butter2<butter100_1_5_coeffs> butter50hz0_75; //50hz sample, 0.75hz fcut
|
|
typedef Butter2<butter100_1_5_coeffs> butter10hz0_15; //10hz sample, 0.15hz fcut
|
|
|
|
struct butter100_2_coeffs
|
|
{
|
|
static constexpr float A1 = 1.8226949252f;
|
|
static constexpr float A2 = -0.8371816513f;
|
|
static constexpr float GAIN = 2.761148367e+02f;
|
|
};
|
|
typedef Butter2<butter100_2_coeffs> butter100hz2_0; //100hz sample, 2hz fcut
|
|
typedef Butter2<butter100_2_coeffs> butter50hz1_0; //50hz sample, 1hz fcut
|
|
typedef Butter2<butter100_2_coeffs> butter10hz0_2; //10hz sample, 0.2hz fcut
|
|
|
|
struct butter100_3_coeffs
|
|
{
|
|
static constexpr float A1 = 1.7347257688f;
|
|
static constexpr float A2 = -0.7660066009f;
|
|
static constexpr float GAIN = 1.278738361e+02f;
|
|
};
|
|
typedef Butter2<butter100_3_coeffs> butter100hz3_0; //100hz sample, 3hz fcut
|
|
typedef Butter2<butter100_3_coeffs> butter50hz1_5; //50hz sample, 1.5hz fcut
|
|
typedef Butter2<butter100_3_coeffs> butter10hz0_3; //10hz sample, 0.3hz fcut
|
|
|
|
struct butter100_4_coeffs
|
|
{
|
|
static constexpr float A1 = 1.6474599811f;
|
|
static constexpr float A2 = -0.7008967812f;
|
|
static constexpr float GAIN = 7.485478157e+01f;
|
|
};
|
|
typedef Butter2<butter100_4_coeffs> butter100hz4_0; //100hz sample, 4hz fcut
|
|
typedef Butter2<butter100_4_coeffs> butter50hz2_0; //50hz sample, 2hz fcut
|
|
typedef Butter2<butter100_4_coeffs> butter10hz0_4; //10hz sample, .4hz fcut
|
|
|
|
struct butter100_8_coeffs
|
|
{
|
|
static constexpr float A1 = 1.3072850288f;
|
|
static constexpr float A2 = -0.4918122372f;
|
|
static constexpr float GAIN = 2.167702007e+01f;
|
|
};
|
|
typedef Butter2<butter100_8_coeffs> butter100hz8_0; //100hz sample, 8hz fcut
|
|
typedef Butter2<butter100_8_coeffs> butter50hz4_0; //50hz sample, 4hz fcut
|
|
typedef Butter2<butter100_8_coeffs> butter10hz0_8; //10hz sample, .8hz fcut
|
|
|
|
struct butter50_8_coeffs
|
|
{
|
|
static constexpr float A1 = 0.6710290908f;
|
|
static constexpr float A2 = -0.2523246263f;
|
|
static constexpr float GAIN = 6.881181354e+00f;
|
|
};
|
|
typedef Butter2<butter50_8_coeffs> butter50hz8_0; //50hz sample, 8hz fcut
|
|
typedef Butter2<butter50_8_coeffs> butter10hz1_6; //10hz sample, 1.6hz fcut
|
|
|
|
#endif // __FILTER_BUTTER_H__
|