syouichi imamori / Mbed OS MulticopterQuadX

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Show/hide line numbers Limiter.cpp Source File

Limiter.cpp

00001 #include "mbed.h"
00002 #include "Limiter.h"
00003 
00004 Limiter::Limiter(float RATE)
00005 {
00006     _rate = RATE;
00007     _lastval = 0.0;
00008 }
00009 
00010 void Limiter::setup(float _cutoffreq,float _interval)
00011 {
00012     _period = 1 / _cutoffreq;
00013     _rate = _period / ( _period + _interval );
00014     _lastval = 0.0;
00015 }
00016 
00017 float Limiter::calc(float _now)
00018 {
00019     _lastval = _rate * _lastval + ( 1 - _rate ) * _now;
00020     return _lastval;
00021 }
00022 ;
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