syouichi imamori / Mbed OS MulticopterQuadX

Quad X Type Multicopter

Dependencies:   IAP

Limiter/Limiter.cpp@8:1db19b529b22, 2021-02-21 (annotated)

Committer:
komaida424
Date:
Sun Feb 21 05:14:57 2021 +0000
Revision:
8:1db19b529b22
Parent:
6:a50e6d3924f1 
rev 020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
komaida424 4:4060309b9cc0 1 #include "mbed.h"
komaida424 4:4060309b9cc0 2 #include "Limiter.h"
komaida424 4:4060309b9cc0 3
komaida424 8:1db19b529b22 4 Limiter::Limiter(float RATE)
komaida424 4:4060309b9cc0 5 {
komaida424 8:1db19b529b22 6 _rate = RATE;
komaida424 8:1db19b529b22 7 _lastval = 0.0;
komaida424 6:a50e6d3924f1 8 }
komaida424 6:a50e6d3924f1 9
komaida424 8:1db19b529b22 10 void Limiter::setup(float _cutoffreq,float _interval)
komaida424 6:a50e6d3924f1 11 {
komaida424 8:1db19b529b22 12 _period = 1 / _cutoffreq;
komaida424 8:1db19b529b22 13 _rate = _period / ( _period + _interval );
komaida424 8:1db19b529b22 14 _lastval = 0.0;
komaida424 6:a50e6d3924f1 15 }
komaida424 6:a50e6d3924f1 16
komaida424 8:1db19b529b22 17 float Limiter::calc(float _now)
komaida424 4:4060309b9cc0 18 {
komaida424 8:1db19b529b22 19 _lastval = _rate * _lastval + ( 1 - _rate ) * _now;
komaida424 8:1db19b529b22 20 return _lastval;
komaida424 4:4060309b9cc0 21 }
komaida424 4:4060309b9cc0 22 ;