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mathlib: merge LowPassFilter2p, LowPassFilter2pArray, and LowPassFilter2pVector3f

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- fix reset for direct form 2
 - push NAN checks out to filter users
This commit is contained in:
Daniel Agar
2021-05-31 10:26:45 -04:00
parent 2a792ca201
commit 5493d96d17
23 changed files with 210 additions and 483 deletions
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src/drivers/uavcan/sensors/differential_pressure.cpp
+10 -9
View File
@@ -75,14 +75,15 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
float diff_press_pa = msg.differential_pressure;
float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
differential_pressure_s report = {
.timestamp = hrt_absolute_time(),
.error_count = 0,
.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset,
.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset, /// TODO: Create filter
.temperature = temperature_c,
.device_id = _device_id.devid
};
if (PX4_ISFINITE(diff_press_pa)) {
differential_pressure_s report{};
publish(msg.getSrcNodeID().get(), &report);
report.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset;
report.temperature = temperature_c;
report.device_id = _device_id.devid;
report.timestamp = hrt_absolute_time();
publish(msg.getSrcNodeID().get(), &report);
}
}
src/drivers/uavcan/sensors/differential_pressure.hpp
+1 -1
View File
@@ -59,7 +59,7 @@ public:
private:
float _diff_pres_offset{0.f};
math::LowPassFilter2p _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
math::LowPassFilter2p<float> _filter{10.f, 1.1f}; /// Adapted from MS5525 driver
void air_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg);