ModeFilter - remove older ModeFilter library (new library is now in Filter directory)

libraries/ModeFilter/ModeFilter.cpp

@@ -1,87 +0,0 @@
-/*
-	ModeFilter.cpp - Mode Filter Library for Ardupilot Mega. Arduino
-	Code by Jason Short. DIYDrones.com
-	Adapted from code by Jason Lessels(June 6, 2011), Bill Gentles (Nov. 12, 2010)
-
-
-	This library is free software; you can redistribute it and/or
-	modify it under the terms of the GNU Lesser General Public
-	License as published by the Free Software Foundation; either
-	version 2.1 of the License, or (at your option) any later version.
-
-
-*/
-#include "ModeFilter.h"
-
-#include <avr/interrupt.h>
-#if defined(ARDUINO) && ARDUINO >= 100
-	#include "Arduino.h"
-#else
-	#include "WProgram.h"
-#endif
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-ModeFilter::ModeFilter() :
-	_sample_index(0)
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-	//Sorting function
-	// sort function (Author: Bill Gentles, Nov. 12, 2010)
-	//	*a is an array pointer function
-
-int ModeFilter::get_filtered_with_sample(int _sample){
-	_samples[_sample_index] = _sample;
-
-	_sample_index++;
-
-	if (_sample_index >= MOD_FILTER_SIZE)
-		_sample_index = 0;
-
-	isort();
-
-	return mode();
-}
-
-
-void ModeFilter::isort()
-{
-	for (int i = 1; i < MOD_FILTER_SIZE; ++i)   {
-		int j = _samples[i];
-		int k;
-		for (k = i - 1; (k >= 0) && (j < _samples[k]); k--){
-			_samples[k + 1] = _samples[k];
-		}
-		_samples[k + 1] = j;
-	}
-}
-
-//Mode function, returning the mode or median.
-int16_t ModeFilter::mode(){
-	int fmode 		= 0;
-	byte i 			= 0;
-	byte count 		= 0;
-	byte maxCount 	= 0;
-	byte bimodal 	= 0;
-
-	while(count > maxCount){
-		fmode 		= _samples[i];
-		maxCount 	= count;
-		bimodal 	= 0;
-	}
-
-	if(count == 0) i++;
-
-	if(count == maxCount){ //If the dataset has 2 or more modes.
-		bimodal = 1;
-	}
-
-	if(fmode == 0 || bimodal == 1){ //Return the median if there is no mode.
-		fmode = _samples[(MOD_FILTER_SIZE / 2)];
-	}
-
-	return fmode;
-}

libraries/ModeFilter/ModeFilter.h

@@ -1,26 +0,0 @@
-#ifndef ModeFilter_h
-#define ModeFilter_h
-
-#define MOD_FILTER_SIZE 6
-
-#include <inttypes.h>
-
-class ModeFilter
-{
-  private:
-  public:
-	ModeFilter();
-
-	int 		get_filtered_with_sample(int _sample);
-	int16_t 	_samples[MOD_FILTER_SIZE];
-
-  private:
-	void 		isort();
-	int16_t		mode();
-	int8_t		_sample_index;
-};
-
-#endif
-
-
-

libraries/ModeFilter/examples/ModeFilter/Makefile

@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../AP_Common/Arduino.mk

libraries/ModeFilter/examples/ModeFilter/ModeFilter.pde

@@ -1,51 +0,0 @@
-/*
-	Example of APM_RC library.
-	Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
-
-	Print Input values and send Output to the servos
-	(Works with last PPM_encoder firmware)
-*/
-
-#include <ModeFilter.h> // ArduPilot Mega RC Library
-
-int rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};
-
-ModeFilter mfilter;
-byte i = 0;
-
-void setup()
-{
-	//Open up a serial connection
-	Serial.begin(115200);
-	//Wait for the serial connection
-	delay(500);
-}
-
-//Main loop where the action takes place
-void loop()
-{
-	while(i < 9){
-		printArray(mfilter._samples, 6);
-		int modE = mfilter.get_filtered_with_sample(rangevalue[i]);
-		i++;
-
-		Serial.print("The mode/median is: ");
-		Serial.print(modE);
-		Serial.println();
-	}
-	delay(100000);
-}
-
-/*-----------Functions------------*/
-//Function to print the arrays.
-void printArray(int *a, int n)
-{
-	for (int i = 0; i < n; i++)
-	{
-		Serial.print(a[i], DEC);
-		Serial.print(' ');
-	}
-
-	Serial.println();
-}
-

libraries/ModeFilter/keywords.txt

@@ -1,8 +0,0 @@
-APM_RC	KEYWORD1
-begin	KEYWORD2
-InputCh	KEYWORD2
-OutputCh	KEYWORD2
-GetState	KEYWORD2
-Force_Out0_Out1	KEYWORD2
-Force_Out2_Out3	KEYWORD2
-Force_Out6_Out7	KEYWORD2