Erik van de Coevering
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Multicopter_2018
Latest version of my quadcopter controller with an LPC1768 and MPU9250.
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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
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