Latest version of my quadcopter controller with an LPC1768 and MPU9250.

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Show/hide line numbers LPfilter.h Source File

LPfilter.h

00001 // Coded by Erik van de Coevering 
00002 
00003 #ifndef __LPfilter_H__
00004 #define __LPfilter_H__
00005 
00006 #define LP_A 0.02008336556421
00007 #define LP_B 1.561018075801
00008 #define LP_C -0.6413515380576
00009 #define LP_D 1.0f
00010 #define LP_E 2.0f
00011 #define LP_F 1.0f
00012 
00013 /* 
00014 class LPfilter {    
00015     private:
00016         float filterbuffer[3];
00017         float out;
00018     public:
00019         float run(float input);
00020 };
00021 
00022 class LPfilter2 {
00023     private:
00024         float filterbuffer1[3];
00025         float filterbuffer2[3];
00026         float out_temp;
00027         float out;
00028     public:
00029         float run(float input);
00030 };
00031 
00032 class LPfilter2_1 {
00033     private:
00034         float filterbuffer1[3];
00035         float filterbuffer2[3];
00036         float out_temp;
00037         float out;
00038     public:
00039         float run(float input);
00040 };
00041 */
00042 class LPfilter8 {
00043     private:
00044         float filterbuffer1[3];
00045         float filterbuffer2[3];
00046         float filterbuffer3[3];
00047         float filterbuffer4[3];
00048         float out_temp1, out_temp2, out_temp3;
00049         float out;
00050     public:
00051         float run(float input);
00052 };
00053 
00054 #endif
00055