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Diffstat (limited to 'src/modules/mathlib/math/filter/LowPassFilter2p.hpp')
-rw-r--r-- | src/modules/mathlib/math/filter/LowPassFilter2p.hpp | 78 |
1 files changed, 0 insertions, 78 deletions
diff --git a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp b/src/modules/mathlib/math/filter/LowPassFilter2p.hpp deleted file mode 100644 index 208ec98d4..000000000 --- a/src/modules/mathlib/math/filter/LowPassFilter2p.hpp +++ /dev/null @@ -1,78 +0,0 @@ -// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/// @file LowPassFilter.h -/// @brief A class to implement a second order low pass filter -/// Author: Leonard Hall <LeonardTHall@gmail.com> -/// Adapted for PX4 by Andrew Tridgell - -#pragma once - -namespace math -{ -class __EXPORT LowPassFilter2p -{ -public: - // constructor - LowPassFilter2p(float sample_freq, float cutoff_freq) { - // set initial parameters - set_cutoff_frequency(sample_freq, cutoff_freq); - _delay_element_1 = _delay_element_2 = 0; - } - - // change parameters - void set_cutoff_frequency(float sample_freq, float cutoff_freq); - - // apply - Add a new raw value to the filter - // and retrieve the filtered result - float apply(float sample); - - // return the cutoff frequency - float get_cutoff_freq(void) const { - return _cutoff_freq; - } - -private: - float _cutoff_freq; - float _a1; - float _a2; - float _b0; - float _b1; - float _b2; - float _delay_element_1; // buffered sample -1 - float _delay_element_2; // buffered sample -2 -}; - -} // namespace math |