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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-13 21:07:27 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-13 21:07:27 +0100 |
commit | c3cbaf5deb00577efa9198f246ebc6011284ff34 (patch) | |
tree | 8f40fef6a2230cf6be262443ac520807cc66aba2 /src/lib | |
parent | 54e739926d3414e29b13d2aa14ebb94fd8ffd4f4 (diff) | |
parent | 0b9b68f0d96f59c9cd406547ee52fb52617a298f (diff) | |
download | px4-firmware-c3cbaf5deb00577efa9198f246ebc6011284ff34.tar.gz px4-firmware-c3cbaf5deb00577efa9198f246ebc6011284ff34.tar.bz2 px4-firmware-c3cbaf5deb00577efa9198f246ebc6011284ff34.zip |
Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs_navigator_termination_controlgroups
Conflicts:
src/drivers/px4io/px4io.cpp
Diffstat (limited to 'src/lib')
-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)) { |