Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +03:00
Code Issues Wiki Activity

Change Pt1 cutoff from uint16_t to float

Browse source
This commit is contained in:
Hans Christian Olaussen 2019-02-10 14:55:06 +01:00
parent f625cb261c
commit b8bfc7ce12
3 changed files with 5 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/common/filter.c
View file

@ -44,7 +44,7 @@ FAST_CODE float nullFilterApply(filter_t *filter, float input)
// PT1 Low Pass filter
float pt1FilterGain(uint16_t f_cut, float dT)
float pt1FilterGain(float f_cut, float dT)
{
float RC = 1 / ( 2 * M_PI_FLOAT * f_cut);
return dT / (RC + dT);

2
src/main/common/filter.h
View file

@ -76,7 +76,7 @@ float filterGetNotchQ(float centerFreq, float cutoffFreq);
void laggedMovingAverageInit(laggedMovingAverage_t *filter, uint16_t windowSize, float *buf);
float laggedMovingAverageUpdate(laggedMovingAverage_t *filter, float input);
float pt1FilterGain(uint16_t f_cut, float dT);
float pt1FilterGain(float f_cut, float dT);
void pt1FilterInit(pt1Filter_t *filter, float k);
void pt1FilterUpdateCutoff(pt1Filter_t *filter, float k);
float pt1FilterApply(pt1Filter_t *filter, float input);

6
src/test/unit/common_filter_unittest.cc
View file

@ -41,15 +41,15 @@ TEST(FilterUnittest, TestPt1FilterInit)
TEST(FilterUnittest, TestPt1FilterGain)
{
EXPECT_FLOAT_EQ(0.999949, pt1FilterGain(100, 31.25f));
EXPECT_FLOAT_EQ(0.999949, pt1FilterGain(100.0f, 31.25f));
// handle cases over uint8_t boundary
EXPECT_FLOAT_EQ(0.99998301, pt1FilterGain(300, 31.25f));
EXPECT_FLOAT_EQ(0.99998301, pt1FilterGain(300.0f, 31.25f));
}
TEST(FilterUnittest, TestPt1FilterApply)
{
pt1Filter_t filter;
pt1FilterInit(&filter, pt1FilterGain(100, 31.25f));
pt1FilterInit(&filter, pt1FilterGain(100.0f, 31.25f));
EXPECT_EQ(0, filter.state);
pt1FilterApply(&filter, 1800.0f);