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integrator: add function to return filtered data

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Instead of only being able to get the integral and its integration time,
it can also be handy to get the integral divided/differentiated by the
the integration time. This data is then just filtered by the integrator.
This commit is contained in:
Julian Oes
2016-05-11 21:37:53 +02:00
parent 54b3995175
commit 080a136e50
2 changed files with 25 additions and 0 deletions
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src/drivers/device/integrator.cpp
+14
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@@ -143,6 +143,20 @@ Integrator::get(bool reset, uint64_t &integral_dt)
return val;
}
math::Vector<3>
Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3> &filtered_val)
{
// Do the usual get with reset first but don't return yet.
math::Vector<3> ret_integral = get(reset, integral_dt);
// Because we need both the integral and the integral_dt.
filtered_val(0) = ret_integral(0) * 1000000 / integral_dt;
filtered_val(1) = ret_integral(1) * 1000000 / integral_dt;
filtered_val(2) = ret_integral(2) * 1000000 / integral_dt;
return ret_integral;
}
void
Integrator::_reset(uint64_t &integral_dt)
{