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62 lines
1.8 KiB
62 lines
1.8 KiB
6 years ago
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Math/AP_Math.h>
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#include <cmath>
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#include <inttypes.h>
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#include <AP_Param/AP_Param.h>
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#include "NotchFilter.h"
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template <class T>
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class HarmonicNotchFilter {
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public:
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// set parameters
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void create(uint8_t harmonics);
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void init(float sample_freq_hz, float center_freq_hz, float bandwidth_hz, float attenuation_dB);
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T apply(const T &sample);
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void reset();
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void update(float center_freq_hz);
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~HarmonicNotchFilter();
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private:
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NotchFilter<T>* _filters;
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float _sample_freq_hz;
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float _A;
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float _Q;
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uint8_t _harmonics;
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uint8_t _num_filters;
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bool _initialised;
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};
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/*
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notch filter enable and filter parameters
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*/
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class HarmonicNotchFilterParams : public NotchFilterParams {
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public:
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HarmonicNotchFilterParams(void);
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void set_center_freq_hz(float center_freq) { _center_freq_hz.set(center_freq); }
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uint8_t harmonics(void) const { return _harmonics; }
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float reference(void) const { return _reference; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _harmonics;
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AP_Float _reference;
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};
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typedef HarmonicNotchFilter<Vector3f> HarmonicNotchFilterVector3f;
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