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Filter: fixed butter filter build on px4

mission-4.1.18
Andrew Tridgell 12 years ago
parent
2ce18f588b
commit
befc6b7b9b
1 changed files with 29 additions and 27 deletions
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  1. 56
      libraries/Filter/Butter.h

56
libraries/Filter/Butter.h
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@ -2,6 +2,8 @@ @@ -2,6 +2,8 @@
#ifndef __FILTER_BUTTER_H__
#define __FILTER_BUTTER_H__
#include <AP_HAL.h>
template <typename Coefficients>
class Butter2
{
@ -19,9 +21,9 @@ private: @@ -19,9 +21,9 @@ private:
struct butter100_025_coeffs
{
static const float A1 = 1.9777864838;
static const float A2 = -0.9780305085;
static const float GAIN = 1.639178228e+04;
static constexpr float A1 = 1.9777864838;
static constexpr float A2 = -0.9780305085;
static constexpr float GAIN = 1.639178228e+04;
};
typedef Butter2<butter100_025_coeffs> butter100hz0_25; //100hz sample, 0.25hz fcut
typedef Butter2<butter100_025_coeffs> butter50hz0_125; //50hz sample, 0.125hz fcut
@ -29,9 +31,9 @@ typedef Butter2<butter100_025_coeffs> butter10hz0_025; //10hz sample, 0.025hz fc @@ -29,9 +31,9 @@ typedef Butter2<butter100_025_coeffs> butter10hz0_025; //10hz sample, 0.025hz fc
struct butter100_05_coeffs
{
static const float A1 = 1.9555782403;
static const float A2 = -0.9565436765;
static const float GAIN = 4.143204922e+03;
static constexpr float A1 = 1.9555782403;
static constexpr float A2 = -0.9565436765;
static constexpr float GAIN = 4.143204922e+03;
};
typedef Butter2<butter100_05_coeffs> butter100hz0_5; //100hz sample, 0.5hz fcut
typedef Butter2<butter100_05_coeffs> butter50hz0_25; //50hz sample, 0.25hz fcut
@ -39,9 +41,9 @@ typedef Butter2<butter100_05_coeffs> butter10hz0_05; //10hz sample, 0.05hz fcut @@ -39,9 +41,9 @@ typedef Butter2<butter100_05_coeffs> butter10hz0_05; //10hz sample, 0.05hz fcut
struct butter100_1_coeffs
{
static const float A1 = 1.9111970674;
static const float A2 = -0.9149758348;
static const float GAIN = 1.058546241e+03;
static constexpr float A1 = 1.9111970674;
static constexpr float A2 = -0.9149758348;
static constexpr float GAIN = 1.058546241e+03;
};
typedef Butter2<butter100_1_coeffs> butter100hz1_0; //100hz sample, 1hz fcut
typedef Butter2<butter100_1_coeffs> butter50hz0_5; //50hz sample, 0.5hz fcut
@ -49,9 +51,9 @@ typedef Butter2<butter100_1_coeffs> butter10hz0_1; //10hz sample, 0.1hz fcut @@ -49,9 +51,9 @@ typedef Butter2<butter100_1_coeffs> butter10hz0_1; //10hz sample, 0.1hz fcut
struct butter100_1_5_coeffs
{
static const float A1 = 1.8668922797;
static const float A2 = -0.8752145483;
static const float GAIN = 4.806381793e+02;
static constexpr float A1 = 1.8668922797;
static constexpr float A2 = -0.8752145483;
static constexpr float GAIN = 4.806381793e+02;
};
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
@ -59,9 +61,9 @@ typedef Butter2<butter100_1_5_coeffs> butter10hz0_15; //10hz sample, 0.15hz fcut @@ -59,9 +61,9 @@ typedef Butter2<butter100_1_5_coeffs> butter10hz0_15; //10hz sample, 0.15hz fcut
struct butter100_2_coeffs
{
static const float A1 = 1.8226949252;
static const float A2 = -0.8371816513;
static const float GAIN = 2.761148367e+02;
static constexpr float A1 = 1.8226949252;
static constexpr float A2 = -0.8371816513;
static constexpr float GAIN = 2.761148367e+02;
};
typedef Butter2<butter100_2_coeffs> butter100hz2_0; //100hz sample, 2hz fcut
typedef Butter2<butter100_2_coeffs> butter50hz1_0; //50hz sample, 1hz fcut
@ -69,9 +71,9 @@ typedef Butter2<butter100_2_coeffs> butter10hz0_2; //10hz sample, 0.2hz fcut @@ -69,9 +71,9 @@ typedef Butter2<butter100_2_coeffs> butter10hz0_2; //10hz sample, 0.2hz fcut
struct butter100_3_coeffs
{
static const float A1 = 1.7347257688;
static const float A2 = -0.7660066009;
static const float GAIN = 1.278738361e+02;
static constexpr float A1 = 1.7347257688;
static constexpr float A2 = -0.7660066009;
static constexpr float GAIN = 1.278738361e+02;
};
typedef Butter2<butter100_3_coeffs> butter100hz3_0; //100hz sample, 3hz fcut
typedef Butter2<butter100_3_coeffs> butter50hz1_5; //50hz sample, 1.5hz fcut
@ -79,9 +81,9 @@ typedef Butter2<butter100_3_coeffs> butter10hz0_3; //10hz sample, 0.3hz fcut @@ -79,9 +81,9 @@ typedef Butter2<butter100_3_coeffs> butter10hz0_3; //10hz sample, 0.3hz fcut
struct butter100_4_coeffs
{
static const float A1 = 1.6474599811;
static const float A2 = -0.7008967812;
static const float GAIN = 7.485478157e+01;
static constexpr float A1 = 1.6474599811;
static constexpr float A2 = -0.7008967812;
static constexpr float GAIN = 7.485478157e+01;
};
typedef Butter2<butter100_4_coeffs> butter100hz4_0; //100hz sample, 4hz fcut
typedef Butter2<butter100_4_coeffs> butter50hz2_0; //50hz sample, 2hz fcut
@ -89,9 +91,9 @@ typedef Butter2<butter100_4_coeffs> butter10hz0_4; //10hz sample, .4hz fcut @@ -89,9 +91,9 @@ typedef Butter2<butter100_4_coeffs> butter10hz0_4; //10hz sample, .4hz fcut
struct butter100_8_coeffs
{
static const float A1 = 1.3072850288;
static const float A2 = -0.4918122372;
static const float GAIN = 2.167702007e+01;
static constexpr float A1 = 1.3072850288;
static constexpr float A2 = -0.4918122372;
static constexpr float GAIN = 2.167702007e+01;
};
typedef Butter2<butter100_8_coeffs> butter100hz8_0; //100hz sample, 8hz fcut
typedef Butter2<butter100_8_coeffs> butter50hz4_0; //50hz sample, 4hz fcut
@ -99,9 +101,9 @@ typedef Butter2<butter100_8_coeffs> butter10hz0_8; //10hz sample, .8hz fcut @@ -99,9 +101,9 @@ typedef Butter2<butter100_8_coeffs> butter10hz0_8; //10hz sample, .8hz fcut
struct butter50_8_coeffs
{
static const float A1 = 0.6710290908;
static const float A2 = -0.2523246263;
static const float GAIN = 6.881181354e+00;
static constexpr float A1 = 0.6710290908;
static constexpr float A2 = -0.2523246263;
static constexpr float GAIN = 6.881181354e+00;
};
typedef Butter2<butter50_8_coeffs> butter50hz8_0; //50hz sample, 8hz fcut
typedef Butter2<butter50_8_coeffs> butter10hz1_6; //10hz sample, 1.6hz fcut

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