Browse Source
- merge NotchFilterArray into regular NotchFilter (apply vs applyArray) - only use direct form 1 to prevent reset confusion - safe default field initialization - update VehicleAngularVelocity usagerelease/1.12
Daniel Agar
4 years ago
5 changed files with 75 additions and 190 deletions
@ -1,117 +0,0 @@ |
|||||||
/****************************************************************************
|
|
||||||
* |
|
||||||
* Copyright (C) 2019 PX4 Development Team. All rights reserved. |
|
||||||
* |
|
||||||
* Redistribution and use in source and binary forms, with or without |
|
||||||
* modification, are permitted provided that the following conditions |
|
||||||
* are met: |
|
||||||
* |
|
||||||
* 1. Redistributions of source code must retain the above copyright |
|
||||||
* notice, this list of conditions and the following disclaimer. |
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright |
|
||||||
* notice, this list of conditions and the following disclaimer in |
|
||||||
* the documentation and/or other materials provided with the |
|
||||||
* distribution. |
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be |
|
||||||
* used to endorse or promote products derived from this software |
|
||||||
* without specific prior written permission. |
|
||||||
* |
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
||||||
* POSSIBILITY OF SUCH DAMAGE. |
|
||||||
* |
|
||||||
****************************************************************************/ |
|
||||||
|
|
||||||
/*
|
|
||||||
* @file NotchFilter.hpp |
|
||||||
* |
|
||||||
* @brief Notch filter with array input/output |
|
||||||
* |
|
||||||
* @author Mathieu Bresciani <brescianimathieu@gmail.com> |
|
||||||
* @author Samuel Garcin <samuel.garcin@wecorpindustries.com> |
|
||||||
*/ |
|
||||||
|
|
||||||
#pragma once |
|
||||||
|
|
||||||
#include "NotchFilter.hpp" |
|
||||||
|
|
||||||
namespace math |
|
||||||
{ |
|
||||||
template<typename T> |
|
||||||
class NotchFilterArray : public NotchFilter<T> |
|
||||||
{ |
|
||||||
using NotchFilter<T>::_delay_element_1; |
|
||||||
using NotchFilter<T>::_delay_element_2; |
|
||||||
using NotchFilter<T>::_delay_element_output_1; |
|
||||||
using NotchFilter<T>::_delay_element_output_2; |
|
||||||
using NotchFilter<T>::_a1; |
|
||||||
using NotchFilter<T>::_a2; |
|
||||||
using NotchFilter<T>::_b0; |
|
||||||
using NotchFilter<T>::_b1; |
|
||||||
using NotchFilter<T>::_b2; |
|
||||||
|
|
||||||
public: |
|
||||||
|
|
||||||
NotchFilterArray() = default; |
|
||||||
~NotchFilterArray() = default; |
|
||||||
|
|
||||||
// Filter array of samples in place using the Direct form II.
|
|
||||||
inline void apply(T samples[], uint8_t num_samples) |
|
||||||
{ |
|
||||||
for (int n = 0; n < num_samples; n++) { |
|
||||||
// Direct Form II implementation
|
|
||||||
T delay_element_0{samples[n] - _delay_element_1 *_a1 - _delay_element_2 * _a2}; |
|
||||||
|
|
||||||
// don't allow bad values to propagate via the filter
|
|
||||||
if (!isFinite(delay_element_0)) { |
|
||||||
delay_element_0 = samples[n]; |
|
||||||
} |
|
||||||
|
|
||||||
samples[n] = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2; |
|
||||||
|
|
||||||
_delay_element_2 = _delay_element_1; |
|
||||||
_delay_element_1 = delay_element_0; |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
/**
|
|
||||||
* Add new raw values to the filter using the Direct form I. |
|
||||||
* |
|
||||||
* @return retrieve the filtered result |
|
||||||
*/ |
|
||||||
inline void applyDF1(T samples[], uint8_t num_samples) |
|
||||||
{ |
|
||||||
for (int n = 0; n < num_samples; n++) { |
|
||||||
// Direct Form II implementation
|
|
||||||
T output = _b0 * samples[n] + _b1 * _delay_element_1 + _b2 * _delay_element_2 - _a1 * _delay_element_output_1 - |
|
||||||
_a2 * _delay_element_output_2; |
|
||||||
|
|
||||||
// don't allow bad values to propagate via the filter
|
|
||||||
if (!isFinite(output)) { |
|
||||||
output = samples[n]; |
|
||||||
} |
|
||||||
|
|
||||||
// shift inputs
|
|
||||||
_delay_element_2 = _delay_element_1; |
|
||||||
_delay_element_1 = samples[n]; |
|
||||||
|
|
||||||
// shift outputs
|
|
||||||
_delay_element_output_2 = _delay_element_output_1; |
|
||||||
_delay_element_output_1 = output; |
|
||||||
|
|
||||||
// writes value to array
|
|
||||||
samples[n] = output; |
|
||||||
} |
|
||||||
} |
|
||||||
}; |
|
||||||
|
|
||||||
} // namespace math
|
|
||||||
Loading…
Reference in new issue