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/MAfilter.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 "MAfilter.h"
Anaesthetix 0:0929d3d566cf 2
Anaesthetix 0:0929d3d566cf 3 float MAfilter::run(float input)
Anaesthetix 0:0929d3d566cf 4 {
Anaesthetix 0:0929d3d566cf 5 for(i=1; i<200; i++)
Anaesthetix 0:0929d3d566cf 6 {
Anaesthetix 0:0929d3d566cf 7 filterbuff[i] = filterbuff[i-1];
Anaesthetix 0:0929d3d566cf 8 }
Anaesthetix 0:0929d3d566cf 9 filterbuff[0] = input;
Anaesthetix 0:0929d3d566cf 10
Anaesthetix 0:0929d3d566cf 11 for(i=0; i<200; i++) out = out + (filterbuff[i]/200);
Anaesthetix 0:0929d3d566cf 12
Anaesthetix 0:0929d3d566cf 13 return out;
Anaesthetix 0:0929d3d566cf 14 }
Anaesthetix 0:0929d3d566cf 15
Anaesthetix 0:0929d3d566cf 16 float MAfilter10::run(float input)
Anaesthetix 0:0929d3d566cf 17 {
Anaesthetix 0:0929d3d566cf 18 for(i=1; i<10; i++)
Anaesthetix 0:0929d3d566cf 19 {
Anaesthetix 0:0929d3d566cf 20 filterbuff[i] = filterbuff[i-1];
Anaesthetix 0:0929d3d566cf 21 }
Anaesthetix 0:0929d3d566cf 22 filterbuff[0] = input;
Anaesthetix 0:0929d3d566cf 23
Anaesthetix 0:0929d3d566cf 24 out = 0;
Anaesthetix 0:0929d3d566cf 25 for(i=0; i<10; i++) out = out + (filterbuff[i]*0.1);
Anaesthetix 0:0929d3d566cf 26
Anaesthetix 0:0929d3d566cf 27 return out;
Anaesthetix 0:0929d3d566cf 28 }
Anaesthetix 0:0929d3d566cf 29