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.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?
User | Revision | Line number | New 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 |