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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-13 17:26:07 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-13 17:26:07 +0400 |
| commit | 6705e9518b16e8f1b681c74c374b06583b2cfd64 (patch) | |
| tree | 40bdbcc2c0599e3e0b318d39391909453c968536 /src/lib/mathlib | |
| parent | bae2171edbb082190898bc8d5afbc9b0d991712b (diff) | |
| parent | c46bd8b0413fcaea5b19777bf074f0d65417a47c (diff) | |
| download | px4-firmware-6705e9518b16e8f1b681c74c374b06583b2cfd64.tar.gz px4-firmware-6705e9518b16e8f1b681c74c374b06583b2cfd64.tar.bz2 px4-firmware-6705e9518b16e8f1b681c74c374b06583b2cfd64.zip | |
Merge branch 'master' into vector_control2
Diffstat (limited to 'src/lib/mathlib')
| -rw-r--r-- | src/lib/mathlib/math/filter/LowPassFilter2p.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp index efb17225d..3699d9bce 100644 --- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp +++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp @@ -46,6 +46,10 @@ namespace math void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq) { _cutoff_freq = cutoff_freq; + if (_cutoff_freq <= 0.0f) { + // no filtering + return; + } float fr = sample_freq/_cutoff_freq; float ohm = tanf(M_PI_F/fr); float c = 1.0f+2.0f*cosf(M_PI_F/4.0f)*ohm + ohm*ohm; @@ -58,6 +62,10 @@ void LowPassFilter2p::set_cutoff_frequency(float sample_freq, float cutoff_freq) float LowPassFilter2p::apply(float sample) { + if (_cutoff_freq <= 0.0f) { + // no filtering + return sample; + } // do the filtering float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2; if (isnan(delay_element_0) || isinf(delay_element_0)) { |