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

libraries/Filter/ModeFilter.h

@@ -35,9 +35,15 @@ public:
     // apply - Add a new raw value to the filter, retrieve the filtered result
     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 methods
     uint8_t         _return_element;
+    T               _output;
     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
 };
@@ -63,6 +69,11 @@ typedef ModeFilter<uint16_t,4> ModeFilterUInt16_Size4;
 typedef ModeFilter<uint16_t,5> ModeFilterUInt16_Size5;
 typedef ModeFilter<uint16_t,6> ModeFilterUInt16_Size6;
 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    //////////////////////////////////////////////////////////////
 
@@ -91,10 +102,10 @@ T ModeFilter<T,FILTER_SIZE>::        apply(T sample)
     // return results
     if( FilterWithBuffer<T,FILTER_SIZE>::sample_index < FILTER_SIZE ) {
         // 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{
         // return element specified by user in constructor
-        return FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element];
+        return _output = FilterWithBuffer<T,FILTER_SIZE>::samples[_return_element];
     }
 }