Revision 2:21b70641f866, committed 2014-05-16

Comitter:

joe4465

Date:

Fri May 16 14:17:38 2014 +0000

Parent:

1:fbc57eb4e61d

Commit message:

Added RC control - still not holding attitude correctly

Changed in this revision

diff -r fbc57eb4e61d -r 21b70641f866 MAF.cpp
--- a/MAF.cpp	Sun May 05 13:31:02 2013 +0000
+++ b/MAF.cpp	Fri May 16 14:17:38 2014 +0000
@@ -1,31 +1,10 @@
-/* Copyright (c) <2012> MIT License
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
- * and associated documentation files (the "Software"), to deal in the Software without restriction, 
- * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
- * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all copies or 
- * substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
- * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * 10-Point Moving Average Filter
- */
- 
 #include "MAF.h"
 
-   MAF::MAF(){}
+MAF::MAF()
+{}
    
-   float MAF::update(float data){
-   
+float MAF::update(float data)
+{
     _k[0] = data;
     _result = _k[0]*0.1 + _k[1]*0.1 + _k[2]*0.1 + _k[3]*0.1 + _k[4]*0.1 + _k[5]*0.1 + _k[6]*0.1 + _k[7]*0.1 + _k[8]*0.1 + _k[9]*0.1 ;
     _k[9] = _k[8];
@@ -39,21 +18,4 @@
     _k[1] = _k[0];
    
    return _result;
-   }
-   
-   int MAF::updateInt(int data){
-   
-    _a[0] = data;
-    _result = _a[0]*0.1 + _a[1]*0.1 + _a[2]*0.1 + _a[3]*0.1 + _a[4]*0.1 + _a[5]*0.1 + _a[6]*0.1 + _a[7]*0.1 + _a[8]*0.1 + _a[9]*0.1 ;
-    _a[9] = _a[8];
-    _a[8] = _a[7];
-    _a[7] = _a[6];
-    _a[6] = _a[5];
-    _a[5] = _a[4];
-    _a[4] = _a[3];
-    _a[3] = _a[2];
-    _a[2] = _a[1];
-    _a[1] = _a[0];
-   
-   return _resultInt;
-   }
\ No newline at end of file
+}
\ No newline at end of file

diff -r fbc57eb4e61d -r 21b70641f866 MAF.h
--- a/MAF.h	Sun May 05 13:31:02 2013 +0000
+++ b/MAF.h	Fri May 16 14:17:38 2014 +0000
@@ -1,85 +1,17 @@
-/* Copyright (c) <2012> MIT License
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
- * and associated documentation files (the "Software"), to deal in the Software without restriction, 
- * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
- * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all copies or 
- * substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
- * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * Moving Average Filter
- *
- *
- */
- 
 #ifndef MAF_H
 #define MAF_H
 
 #include "mbed.h"
 
-/** 10-Point Moving Average filter
- *
- * Example:
- * @code
- * // Update the filter with gyroscope readings
- * #include "mbed.h"
- * #include "ITG3200.h"
- * #include "MAF.h"
- * 
- * Serial pc(USBTX, USBRX);
- * ITG3200 gyro(p9, p10);
- * MAF Filter();
- * int Average;
- * 
- * int main() {
- *    
- *    gyro.setLpBandwidth(LPFBW_42HZ);
- *
- *     while(1){
- *   
- *      Average = Filter.updateInt(gyro.getGyroX());
- *      pc.printf("%i\n",Average);
- *      wait_ms(50);
- * }    
- * }
- * @endcode
- */
-class MAF {
-
+class MAF
+{
     public:
-    
-       /* Creates a 10-Point Moving Average Filter object
-       *
-       */   
-        MAF(void);
-        
-        /* Updates the filter
-        *  @param data new data input for the filter,returns the float average
-        */
+        MAF();
         float update(float data);
-        
-        /* Updates the filter
-        *  @param data new data input for the filter, returns the integer average
-        */
-        int updateInt(int data);
     
     private :
-    
-        float _k[10];
-        int   _a[10];
-        
+        float _k[10];        
         float _result;
-        int   _resultInt;
 };
 
 #endif 
\ No newline at end of file