Chun Feng Huang / SLIP_ACCELERATION

Diff: SLIP_ACCELERATION.cpp

Revision:
2:e275f3919042
Parent:
1:436de13b3320
Child:
3:265a69f4c360
--- a/SLIP_ACCELERATION.cpp	Thu Jan 05 15:01:46 2017 +0000
+++ b/SLIP_ACCELERATION.cpp	Tue Jan 10 19:48:21 2017 +0000
@@ -4,8 +4,9 @@
         Ts(samplingTime),
         onBoardDelay_ms(onBoardDelay_ms_in),
         yawAcce_cal(samplingTime),
-        lpf_dVs(2,samplingTime,70), // 200 Hz
-        hpf_dVs(2,samplingTime,0.015), // 0.015 Hz
+        lpf_dVs(2,samplingTime,200), // 200 Hz
+        hpf_dVs(2,samplingTime,0.1), // 0.015 Hz
+        hpf_dVs_2ndLayer(2,samplingTime,0.1), // The 2nd layer, 0.015 Hz
         OnboardSignal_FIFO() // Empty
 {
     //
@@ -57,7 +58,8 @@
     // Filtering the dVs
     // dVs_filtered = dVs; // Nothing to do
     // dVs_filtered = lpf_dVs.filter(dVs); // Low-pass: 0.0 Hz ~ 200 Hz
-    dVs_filtered = hpf_dVs.filter(lpf_dVs.filter(dVs)); // Band-pass: 0.015 Hz ~ 200 Hz
+    // dVs_filtered = hpf_dVs.filter(lpf_dVs.filter(dVs)); // Band-pass: 0.015 Hz ~ 200 Hz
+    dVs_filtered = hpf_dVs_2ndLayer.filter( hpf_dVs.filter(lpf_dVs.filter(dVs)) ); // Band-pass: 0.015 Hz ~ 200 Hz
 
     //
     // return dVs;