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.h@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 #ifndef __LPfilter_H__
Anaesthetix 0:0929d3d566cf 2 #define __LPfilter_H__
Anaesthetix 0:0929d3d566cf 3
Anaesthetix 0:0929d3d566cf 4 #define LP_A 0.02008336556421
Anaesthetix 0:0929d3d566cf 5 #define LP_B 1.561018075801
Anaesthetix 0:0929d3d566cf 6 #define LP_C -0.6413515380576
Anaesthetix 0:0929d3d566cf 7 #define LP_D 1.0f
Anaesthetix 0:0929d3d566cf 8 #define LP_E 2.0f
Anaesthetix 0:0929d3d566cf 9 #define LP_F 1.0f
Anaesthetix 0:0929d3d566cf 10
Anaesthetix 0:0929d3d566cf 11
Anaesthetix 0:0929d3d566cf 12 class LPfilter {
Anaesthetix 0:0929d3d566cf 13 private:
Anaesthetix 0:0929d3d566cf 14 float filterbuffer[3];
Anaesthetix 0:0929d3d566cf 15 float out;
Anaesthetix 0:0929d3d566cf 16 public:
Anaesthetix 0:0929d3d566cf 17 float run(float input);
Anaesthetix 0:0929d3d566cf 18 };
Anaesthetix 0:0929d3d566cf 19
Anaesthetix 0:0929d3d566cf 20 class LPfilter2 {
Anaesthetix 0:0929d3d566cf 21 private:
Anaesthetix 0:0929d3d566cf 22 float filterbuffer1[3];
Anaesthetix 0:0929d3d566cf 23 float filterbuffer2[3];
Anaesthetix 0:0929d3d566cf 24 float out_temp;
Anaesthetix 0:0929d3d566cf 25 float out;
Anaesthetix 0:0929d3d566cf 26 public:
Anaesthetix 0:0929d3d566cf 27 float run(float input);
Anaesthetix 0:0929d3d566cf 28 };
Anaesthetix 0:0929d3d566cf 29
Anaesthetix 0:0929d3d566cf 30 class LPfilter2_1 {
Anaesthetix 0:0929d3d566cf 31 private:
Anaesthetix 0:0929d3d566cf 32 float filterbuffer1[3];
Anaesthetix 0:0929d3d566cf 33 float filterbuffer2[3];
Anaesthetix 0:0929d3d566cf 34 float out_temp;
Anaesthetix 0:0929d3d566cf 35 float out;
Anaesthetix 0:0929d3d566cf 36 public:
Anaesthetix 0:0929d3d566cf 37 float run(float input);
Anaesthetix 0:0929d3d566cf 38 };
Anaesthetix 0:0929d3d566cf 39
Anaesthetix 0:0929d3d566cf 40 #endif
Anaesthetix 0:0929d3d566cf 41