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Servo filtering test

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This commit is contained in:
Joel Fuster 2015-01-01 11:56:56 -05:00
parent a9020d7b51
commit ceb4690bef
3 changed files with 61 additions and 0 deletions
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47
src/main/flight/mixer.c
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@ -653,3 +653,50 @@ bool isMixerUsingServos(void)
{
return useServo;
}
#include "notch_table.h"
#define NOTCH_FILTER_COEFS 3
static notchFilter_t notchFilters[MAX_SUPPORTED_SERVOS];
static float notchFilter(notchFilter_t *filter, float in)
{
int16_t coefIdx;
float out;
if (!filter->init) {
filter->freqIdx = 9;
filter->freq = notch_table[filter->freqIdx][0];
filter->pCoef = &notch_table[filter->freqIdx][1];
for (coefIdx = 0; coefIdx < NOTCH_FILTER_COEFS; coefIdx++) {
filter->in[coefIdx] = in;
filter->out[coefIdx] = in;
}
filter->init = true;
}
filter->in[2] = filter->in[1];
filter->in[1] = filter->in[0];
filter->in[0] = in;
filter->out[2] = filter->out[1];
filter->out[1] = filter->out[0];
out = filter->in[0] * filter->pCoef[0] +
filter->in[1] * filter->pCoef[1] +
filter->in[2] * filter->pCoef[2] -
(filter->out[1] * filter->pCoef[3] +
filter->out[2] * filter->pCoef[4]);
filter->out[0] = out;
return out;
}
void filterServos(void)
{
int16_t servoIdx;
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
notchFilter(&notchFilters[servoIdx], servo[servoIdx]);
}
}