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integrator: add a put method for known intervals

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This adds a second put method to the integrator class. This allows to
integrate with known intervals between samples, rather than based on
timestamps. This makes integrating the samples coming out of the MPU9250
FIFO buffer easier.
This commit is contained in:
Julian Oes
2016-05-03 17:40:07 +02:00
committed by Lorenz Meier
parent e24bef1f70
commit f528c63030
2 changed files with 36 additions and 1 deletions
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src/drivers/device/integrator.cpp
+20
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@@ -111,6 +111,26 @@ Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integ
}
}
bool
Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
uint64_t &integral_dt)
{
if (_last_integration_time == 0) {
/* this is the first item in the integrator */
uint64_t now = hrt_absolute_time();
_last_integration_time = now;
_last_reset_time = now;
_last_val = val;
return false;
}
// Create the timestamp artifically.
uint64_t timestamp = _last_integration_time + interval_us;
return put(timestamp, val, integral, integral_dt);
}
math::Vector<3>
Integrator::get(bool reset, uint64_t &integral_dt)
{