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@4:fab65ad01ab4, 2018-07-12 (annotated)

Committer:
Anaesthetix
Date:
Thu Jul 12 13:53:55 2018 +0000
Revision:
4:fab65ad01ab4
Parent:
0:0929d3d566cf 
Minor changes and comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 4:fab65ad01ab4 1 // Coded by Erik van de Coevering
Anaesthetix 4:fab65ad01ab4 2
Anaesthetix 0:0929d3d566cf 3 #include "MAfilter.h"
Anaesthetix 0:0929d3d566cf 4
Anaesthetix 0:0929d3d566cf 5 float MAfilter::run(float input)
Anaesthetix 0:0929d3d566cf 6 {
Anaesthetix 0:0929d3d566cf 7 for(i=1; i<200; i++)
Anaesthetix 0:0929d3d566cf 8 {
Anaesthetix 0:0929d3d566cf 9 filterbuff[i] = filterbuff[i-1];
Anaesthetix 0:0929d3d566cf 10 }
Anaesthetix 0:0929d3d566cf 11 filterbuff[0] = input;
Anaesthetix 0:0929d3d566cf 12
Anaesthetix 0:0929d3d566cf 13 for(i=0; i<200; i++) out = out + (filterbuff[i]/200);
Anaesthetix 0:0929d3d566cf 14
Anaesthetix 0:0929d3d566cf 15 return out;
Anaesthetix 0:0929d3d566cf 16 }
Anaesthetix 0:0929d3d566cf 17
Anaesthetix 0:0929d3d566cf 18 float MAfilter10::run(float input)
Anaesthetix 0:0929d3d566cf 19 {
Anaesthetix 0:0929d3d566cf 20 for(i=1; i<10; i++)
Anaesthetix 0:0929d3d566cf 21 {
Anaesthetix 0:0929d3d566cf 22 filterbuff[i] = filterbuff[i-1];
Anaesthetix 0:0929d3d566cf 23 }
Anaesthetix 0:0929d3d566cf 24 filterbuff[0] = input;
Anaesthetix 0:0929d3d566cf 25
Anaesthetix 0:0929d3d566cf 26 out = 0;
Anaesthetix 0:0929d3d566cf 27 for(i=0; i<10; i++) out = out + (filterbuff[i]*0.1);
Anaesthetix 0:0929d3d566cf 28
Anaesthetix 0:0929d3d566cf 29 return out;
Anaesthetix 0:0929d3d566cf 30 }
Anaesthetix 0:0929d3d566cf 31