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sensors: rc filter: added sample rate of 33.3Hz and lowpass cutoff 5Hz hardcoded for testing

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Matthias Grob
2017-02-02 21:24:05 +01:00
committed by Lorenz Meier
parent 27a4ce2691
commit d991285406
1 changed files with 7 additions and 4 deletions
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src/modules/sensors/rc_update.cpp
+7 -4
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@@ -47,14 +47,17 @@
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
#define RC_SAMPLING_RATE 33.3f
#define RC_FILTER_LP_CUTOFF 5.0f
using namespace sensors; using namespace sensors;
RCUpdate::RCUpdate(const Parameters &parameters) RCUpdate::RCUpdate(const Parameters &parameters)
: _parameters(parameters), : _parameters(parameters),
_filter_roll(0, 0), _filter_roll(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
_filter_pitch(0, 0), _filter_pitch(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
_filter_yaw(0, 0), _filter_yaw(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF),
_filter_throttle(0, 0) _filter_throttle(RC_SAMPLING_RATE, RC_FILTER_LP_CUTOFF)
{ {
memset(&_rc, 0, sizeof(_rc)); memset(&_rc, 0, sizeof(_rc));
memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map)); memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));