Latest version of my quadcopter controller with an LPC1768 and MPU9250.
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@8:981f7e2365b6, 2018-07-31 (annotated)
- Committer:
- Anaesthetix
- Date:
- Tue Jul 31 20:36:57 2018 +0000
- Revision:
- 8:981f7e2365b6
- Parent:
- 7:d86c41443f6d
Switched from Madgwick to Mahony as I'm having trouble with slow oscillations caused by the madgwick filter. Fixed an error on the PID algorithm also.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Anaesthetix | 4:fab65ad01ab4 | 1 | // Coded by Erik van de Coevering |
Anaesthetix | 4:fab65ad01ab4 | 2 | |
Anaesthetix | 0:0929d3d566cf | 3 | #ifndef __LPfilter_H__ |
Anaesthetix | 0:0929d3d566cf | 4 | #define __LPfilter_H__ |
Anaesthetix | 0:0929d3d566cf | 5 | |
Anaesthetix | 0:0929d3d566cf | 6 | #define LP_A 0.02008336556421 |
Anaesthetix | 0:0929d3d566cf | 7 | #define LP_B 1.561018075801 |
Anaesthetix | 0:0929d3d566cf | 8 | #define LP_C -0.6413515380576 |
Anaesthetix | 0:0929d3d566cf | 9 | #define LP_D 1.0f |
Anaesthetix | 0:0929d3d566cf | 10 | #define LP_E 2.0f |
Anaesthetix | 0:0929d3d566cf | 11 | #define LP_F 1.0f |
Anaesthetix | 0:0929d3d566cf | 12 | |
Anaesthetix | 7:d86c41443f6d | 13 | /* |
Anaesthetix | 0:0929d3d566cf | 14 | class LPfilter { |
Anaesthetix | 0:0929d3d566cf | 15 | private: |
Anaesthetix | 0:0929d3d566cf | 16 | float filterbuffer[3]; |
Anaesthetix | 0:0929d3d566cf | 17 | float out; |
Anaesthetix | 0:0929d3d566cf | 18 | public: |
Anaesthetix | 0:0929d3d566cf | 19 | float run(float input); |
Anaesthetix | 0:0929d3d566cf | 20 | }; |
Anaesthetix | 0:0929d3d566cf | 21 | |
Anaesthetix | 0:0929d3d566cf | 22 | class LPfilter2 { |
Anaesthetix | 0:0929d3d566cf | 23 | private: |
Anaesthetix | 0:0929d3d566cf | 24 | float filterbuffer1[3]; |
Anaesthetix | 0:0929d3d566cf | 25 | float filterbuffer2[3]; |
Anaesthetix | 0:0929d3d566cf | 26 | float out_temp; |
Anaesthetix | 0:0929d3d566cf | 27 | float out; |
Anaesthetix | 0:0929d3d566cf | 28 | public: |
Anaesthetix | 0:0929d3d566cf | 29 | float run(float input); |
Anaesthetix | 0:0929d3d566cf | 30 | }; |
Anaesthetix | 0:0929d3d566cf | 31 | |
Anaesthetix | 0:0929d3d566cf | 32 | class LPfilter2_1 { |
Anaesthetix | 0:0929d3d566cf | 33 | private: |
Anaesthetix | 0:0929d3d566cf | 34 | float filterbuffer1[3]; |
Anaesthetix | 0:0929d3d566cf | 35 | float filterbuffer2[3]; |
Anaesthetix | 0:0929d3d566cf | 36 | float out_temp; |
Anaesthetix | 0:0929d3d566cf | 37 | float out; |
Anaesthetix | 0:0929d3d566cf | 38 | public: |
Anaesthetix | 0:0929d3d566cf | 39 | float run(float input); |
Anaesthetix | 0:0929d3d566cf | 40 | }; |
Anaesthetix | 7:d86c41443f6d | 41 | */ |
Anaesthetix | 7:d86c41443f6d | 42 | class LPfilter8 { |
Anaesthetix | 7:d86c41443f6d | 43 | private: |
Anaesthetix | 7:d86c41443f6d | 44 | float filterbuffer1[3]; |
Anaesthetix | 7:d86c41443f6d | 45 | float filterbuffer2[3]; |
Anaesthetix | 7:d86c41443f6d | 46 | float filterbuffer3[3]; |
Anaesthetix | 7:d86c41443f6d | 47 | float filterbuffer4[3]; |
Anaesthetix | 7:d86c41443f6d | 48 | float out_temp1, out_temp2, out_temp3; |
Anaesthetix | 7:d86c41443f6d | 49 | float out; |
Anaesthetix | 7:d86c41443f6d | 50 | public: |
Anaesthetix | 7:d86c41443f6d | 51 | float run(float input); |
Anaesthetix | 7:d86c41443f6d | 52 | }; |
Anaesthetix | 0:0929d3d566cf | 53 | |
Anaesthetix | 0:0929d3d566cf | 54 | #endif |
Anaesthetix | 0:0929d3d566cf | 55 |