Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

Filters/LPfilter.cpp@0:0929d3d566cf, 2018-07-09 (annotated)

Committer:
Anaesthetix
Date:
Mon Jul 09 16:31:40 2018 +0000
Revision:
0:0929d3d566cf
Child:
4:fab65ad01ab4
Latest version of my multicopter controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:0929d3d566cf 1 #include "LPfilter.h"
Anaesthetix 0:0929d3d566cf 2
Anaesthetix 0:0929d3d566cf 3 float LPfilter::run(float input) {
Anaesthetix 0:0929d3d566cf 4 filterbuffer[2] = filterbuffer[1];
Anaesthetix 0:0929d3d566cf 5 filterbuffer[1] = filterbuffer[0];
Anaesthetix 0:0929d3d566cf 6 filterbuffer[0] = input*LP_A + filterbuffer[1]*LP_B + filterbuffer[2]*LP_C;
Anaesthetix 0:0929d3d566cf 7
Anaesthetix 0:0929d3d566cf 8 out = filterbuffer[0]*LP_D + filterbuffer[1]*LP_E + filterbuffer[2]*LP_F;
Anaesthetix 0:0929d3d566cf 9 return out;
Anaesthetix 0:0929d3d566cf 10 }
Anaesthetix 0:0929d3d566cf 11
Anaesthetix 0:0929d3d566cf 12 float LPfilter2::run(float input) {
Anaesthetix 0:0929d3d566cf 13 filterbuffer1[2] = filterbuffer1[1];
Anaesthetix 0:0929d3d566cf 14 filterbuffer1[1] = filterbuffer1[0];
Anaesthetix 0:0929d3d566cf 15 filterbuffer1[0] = input*0.003762202981699 + filterbuffer1[1]*1.893415601023 + filterbuffer1[2]*-0.9084644129493;
Anaesthetix 0:0929d3d566cf 16
Anaesthetix 0:0929d3d566cf 17 out_temp = filterbuffer1[0] + filterbuffer1[1]*2.0f + filterbuffer1[2];
Anaesthetix 0:0929d3d566cf 18
Anaesthetix 0:0929d3d566cf 19 filterbuffer2[2] = filterbuffer2[1];
Anaesthetix 0:0929d3d566cf 20 filterbuffer2[1] = filterbuffer2[0];
Anaesthetix 0:0929d3d566cf 21 filterbuffer2[0] = out_temp*0.003533495923378 + filterbuffer2[1]*1.778313488139 + filterbuffer2[2]*-0.7924474718329;
Anaesthetix 0:0929d3d566cf 22
Anaesthetix 0:0929d3d566cf 23 out = filterbuffer2[0] + filterbuffer2[1]*2.0f + filterbuffer2[2];
Anaesthetix 0:0929d3d566cf 24 return out;
Anaesthetix 0:0929d3d566cf 25 }
Anaesthetix 0:0929d3d566cf 26
Anaesthetix 0:0929d3d566cf 27 float LPfilter2_1::run(float input) {
Anaesthetix 0:0929d3d566cf 28 filterbuffer1[2] = filterbuffer1[1];
Anaesthetix 0:0929d3d566cf 29 filterbuffer1[1] = filterbuffer1[0];
Anaesthetix 0:0929d3d566cf 30 filterbuffer1[0] = input*0.007954132308248 + filterbuffer1[1]*1.836787188551 + filterbuffer1[2]*-0.8686037177835;
Anaesthetix 0:0929d3d566cf 31
Anaesthetix 0:0929d3d566cf 32 out_temp = filterbuffer1[0] + filterbuffer1[1]*2.0f + filterbuffer1[2];
Anaesthetix 0:0929d3d566cf 33
Anaesthetix 0:0929d3d566cf 34 filterbuffer2[2] = filterbuffer2[1];
Anaesthetix 0:0929d3d566cf 35 filterbuffer2[1] = filterbuffer2[0];
Anaesthetix 0:0929d3d566cf 36 filterbuffer2[0] = out_temp*0.007277930990548 + filterbuffer2[1]*1.680637168775 + filterbuffer2[2]*-0.7097488927369;
Anaesthetix 0:0929d3d566cf 37
Anaesthetix 0:0929d3d566cf 38 out = filterbuffer2[0] + filterbuffer2[1]*2.0f + filterbuffer2[2];
Anaesthetix 0:0929d3d566cf 39 return out;
Anaesthetix 0:0929d3d566cf 40 }
Anaesthetix 0:0929d3d566cf 41