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Added median filter implementation. Added 3-point median filter to generic barometer code.

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digitalentity 2015-04-03 20:53:54 +10:00 • committed by Dominic Clifton
parent d964e2d3a3
commit 6e041c57dd
3 changed files with 84 additions and 1 deletions
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26
src/main/sensors/barometer.c
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@ -60,6 +60,30 @@ void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
static bool baroReady = false;
#define PRESSURE_SAMPLES_MEDIAN 3
static int32_t applyBarometerMedianFilter(int32_t newPressureReading)
{
static int32_t barometerFilterSamples[PRESSURE_SAMPLES_MEDIAN];
static int currentFilterSampleIndex = 0;
static bool medianFilterReady = false;
int nextSampleIndex;
nextSampleIndex = (currentFilterSampleIndex + 1);
if (nextSampleIndex == PRESSURE_SAMPLES_MEDIAN) {
nextSampleIndex = 0;
medianFilterReady = true;
}
barometerFilterSamples[currentFilterSampleIndex] = newPressureReading;
currentFilterSampleIndex = nextSampleIndex;
if (medianFilterReady)
return quickMedianFilter3(barometerFilterSamples);
else
return newPressureReading;
}
#define PRESSURE_SAMPLE_COUNT (barometerConfig->baro_sample_count - 1)
static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
@ -74,7 +98,7 @@ static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pres
nextSampleIndex = 0;
baroReady = true;
}
barometerSamples[currentSampleIndex] = newPressureReading;
barometerSamples[currentSampleIndex] = applyBarometerMedianFilter(newPressureReading);
// recalculate pressure total
// Note, the pressure total is made up of baroSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT