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sensors: rc added lowpass filters to the 4 main channels without useful samplerate and cutoff frequency yet

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This commit is contained in:
Matthias Grob
2017-02-02 21:24:05 +01:00
committed by Lorenz Meier
parent a14dbdcfdb
commit 27a4ce2691
2 changed files with 15 additions and 5 deletions
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src/modules/sensors/rc_update.cpp
+9 -5
View File
@@ -50,7 +50,11 @@
using namespace sensors;
RCUpdate::RCUpdate(const Parameters &parameters)
: _parameters(parameters)
: _parameters(parameters),
_filter_roll(0, 0),
_filter_pitch(0, 0),
_filter_yaw(0, 0),
_filter_throttle(0, 0)
{
memset(&_rc, 0, sizeof(_rc));
memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
@@ -352,10 +356,10 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
manual.data_source = manual_control_setpoint_s::SOURCE_RC;
/* limit controls */
manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
manual.y = _filter_roll.apply(get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0));
manual.x = _filter_pitch.apply(get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0));
manual.r = _filter_yaw.apply(get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0));
manual.z = _filter_throttle.apply(get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0));
manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
src/modules/sensors/rc_update.h
+6
View File
@@ -43,6 +43,7 @@
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
namespace sensors
{
@@ -125,6 +126,11 @@ private:
hrt_abstime _last_rc_to_param_map_time = 0;
math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
math::LowPassFilter2p _filter_yaw;
math::LowPassFilter2p _filter_throttle;
};