syouichi imamori / Mbed OS MulticopterQuadX

Quad X Type Multicopter

Dependencies:   IAP

Limiter/Limiter.cpp

Committer:
komaida424
Date:
2021-02-21
Revision:
8:1db19b529b22
Parent:
6:a50e6d3924f1

File content as of revision 8:1db19b529b22:

#include "mbed.h"
#include "Limiter.h"

Limiter::Limiter(float RATE)
{
    _rate = RATE;
    _lastval = 0.0;
}

void Limiter::setup(float _cutoffreq,float _interval)
{
    _period = 1 / _cutoffreq;
    _rate = _period / ( _period + _interval );
    _lastval = 0.0;
}

float Limiter::calc(float _now)
{
    _lastval = _rate * _lastval + ( 1 - _rate ) * _now;
    return _lastval;
}
;