Swapnil Sayan Saha / depth_filter

An intelligent underwater depth estimator exploiting COTS underwater pressure sensors. The filter takes in pressure and temperature from the sensor (and timestamps from an RTC) and uses an alpha-beta filter to calculate the depth of the object, with built-in thermocline, noise and timestamping error compensation.

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Revision 2:6089e3afb8cb, committed 2020-09-28

Comitter:
swapnilsayansaha
Date:
Mon Sep 28 20:16:46 2020 +0000
Parent:
1:9f9b089e10ab
Commit message:
Updated comments;

Changed in this revision

depth_filter.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/depth_filter.cpp	Mon Sep 28 20:15:30 2020 +0000
+++ b/depth_filter.cpp	Mon Sep 28 20:16:46 2020 +0000
@@ -28,7 +28,7 @@
     density_seawater = rho_zero/(1- (P/bulk_modulus));
     z = P/(density_seawater*9.80665);
     
-    //alpha-beta filter (robust to timestamping errors and 
+    //alpha-beta filter (robust to timestamping errors and noise)
     x_est = x0;
     dt = current_timestamp - prev_timestamp;
     output_arr[0] = current_timestamp; //input this as prev_timestamp for subsequent calls