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Classes | |
| struct | iif_filter_t |
| struct | iir_options_t |
| struct | rmean_filter_t |
Macros | |
| #define | ACCUM_WORD_NBITS 32 |
| #define | ALPH_1000SR_0p001CF (0.0000010000f) |
| #define | ALPH_1000SR_0p01CF (0.0000099999f) |
| #define | ALPH_1000SR_0p1CF (0.0000999900f) |
| #define | ALPH_1000SR_1000CF (0.50000000000f) |
| #define | ALPH_1000SR_100CF (0.0909090909f) |
| #define | ALPH_1000SR_10CF (0.0099009901f) |
| #define | ALPH_1000SR_150CF (0.1304347826f) |
| #define | ALPH_1000SR_1CF (0.0009990010f) |
| #define | ALPH_1000SR_200CF (0.1666666667f) |
| #define | ALPH_1000SR_20CF (0.0196078431f) |
| #define | ALPH_1000SR_250CF (0.2000000000f) |
| #define | ALPH_1000SR_2CF (0.0019960080f) |
| #define | ALPH_1000SR_30CF (0.0291262136f) |
| #define | ALPH_1000SR_400CF (0.2857142857f) |
| #define | ALPH_1000SR_500CF (0.3333333333f) |
| #define | ALPH_1000SR_50CF (0.0476190476f) |
| #define | ALPH_1000SR_5CF (0.0049751244f) |
| #define | ALPH_1000SR_750CF (0.4285714286f) |
| #define | ALPH_1000SR_75CF (0.0697674419f) |
| #define | ALPH_100SR_0p001CF (0.0000099999f) |
| #define | ALPH_100SR_0p01CF (0.0000999900f) |
| #define | ALPH_100SR_0p1CF (0.0009990010f) |
| #define | ALPH_100SR_100CF (0.5000000000f) |
| #define | ALPH_100SR_10CF (0.0909090909f) |
| #define | ALPH_100SR_1CF (0.0099009901f) |
| #define | ALPH_100SR_20CF (0.1666666667f) |
| #define | ALPH_100SR_2CF (0.0196078431f) |
| #define | ALPH_100SR_30CF (0.2307692308f) |
| #define | ALPH_100SR_50CF (0.3333333333f) |
| #define | ALPH_100SR_5CF (0.0476190476f) |
| #define | ALPH_100SR_75CF (0.4285714286f) |
| #define | ALPH_2000SR_0p001CF (0.0000005000f) |
| #define | ALPH_2000SR_0p01CF (0.0000050000f) |
| #define | ALPH_2000SR_0p1CF (0.0000499975f) |
| #define | ALPH_2000SR_1000CF (0.3333333333f) |
| #define | ALPH_2000SR_100CF (0.0476190476f) |
| #define | ALPH_2000SR_10CF (0.0049751244f) |
| #define | ALPH_2000SR_1500CF (0.4285714286f) |
| #define | ALPH_2000SR_150CF (0.0697674419f) |
| #define | ALPH_2000SR_1CF (0.0004997501f) |
| #define | ALPH_2000SR_2000CF (0.50000000000f) |
| #define | ALPH_2000SR_200CF (0.0909090909f) |
| #define | ALPH_2000SR_20CF (0.0099009901f) |
| #define | ALPH_2000SR_250CF (0.1111111111f) |
| #define | ALPH_2000SR_2CF (0.0009990010f) |
| #define | ALPH_2000SR_30CF (0.0147783251f) |
| #define | ALPH_2000SR_400CF (0.1666666667f) |
| #define | ALPH_2000SR_500CF (0.2000000000f) |
| #define | ALPH_2000SR_50CF (0.0243902439f) |
| #define | ALPH_2000SR_5CF (0.0024937656f) |
| #define | ALPH_2000SR_75CF (0.0361445783f) |
| #define | ALPH_200SR_0p001CF (0.0000050000f) |
| #define | ALPH_200SR_0p01CF (0.0000499975f) |
| #define | ALPH_200SR_0p1CF (0.0004997501f) |
| #define | ALPH_200SR_100CF (0.3333333333f) |
| #define | ALPH_200SR_10CF (0.0476190476f) |
| #define | ALPH_200SR_150CF (0.4285714286f) |
| #define | ALPH_200SR_1CF (0.0049751244f) |
| #define | ALPH_200SR_200CF (0.5000000000f) |
| #define | ALPH_200SR_20CF (0.0909090909f) |
| #define | ALPH_200SR_2CF (0.0099009901f) |
| #define | ALPH_200SR_30CF (0.1304347826f) |
| #define | ALPH_200SR_50CF (0.2000000000f) |
| #define | ALPH_200SR_5CF (0.0243902439f) |
| #define | ALPH_200SR_75CF (0.2727272727f) |
| #define | ALPH_250SR_0p001CF (0.0000040000f) |
| #define | ALPH_250SR_0p01CF (0.0000399984f) |
| #define | ALPH_250SR_0p1CF (0.0003998401f) |
| #define | ALPH_250SR_100CF (0.2857142857f) |
| #define | ALPH_250SR_10CF (0.0384615385f) |
| #define | ALPH_250SR_150CF (0.3750000000f) |
| #define | ALPH_250SR_187CF (0.4285714286f) |
| #define | ALPH_250SR_1CF (0.0039840637f) |
| #define | ALPH_250SR_20CF (0.0740740741f) |
| #define | ALPH_250SR_250CF (0.5000000000f) |
| #define | ALPH_250SR_2CF (0.0079365079f) |
| #define | ALPH_250SR_30CF (0.1071428571f) |
| #define | ALPH_250SR_50CF (0.1666666667f) |
| #define | ALPH_250SR_5CF (0.0196078431f) |
| #define | ALPH_250SR_75CF (0.2307692308f) |
| #define | ALPH_4000SR_0p001CF (0.0000002500f) |
| #define | ALPH_4000SR_0p01CF (0.0000025000f) |
| #define | ALPH_4000SR_0p1CF (0.0000249994f) |
| #define | ALPH_4000SR_1000CF (0.2000000000f) |
| #define | ALPH_4000SR_100CF (0.0243902439f) |
| #define | ALPH_4000SR_10CF (0.0024937656f) |
| #define | ALPH_4000SR_150CF (0.0361445783f) |
| #define | ALPH_4000SR_1CF (0.0002499375f) |
| #define | ALPH_4000SR_2000CF (0.3333333333f) |
| #define | ALPH_4000SR_200CF (0.0476190476f) |
| #define | ALPH_4000SR_20CF (0.0049751244f) |
| #define | ALPH_4000SR_250CF (0.0588235294f) |
| #define | ALPH_4000SR_2CF (0.0004997501f) |
| #define | ALPH_4000SR_3000CF (0.4285714286f) |
| #define | ALPH_4000SR_30CF (0.0074441687f) |
| #define | ALPH_4000SR_4000CF (0.50000000000f) |
| #define | ALPH_4000SR_400CF (0.0909090909f) |
| #define | ALPH_4000SR_500CF (0.1111111111f) |
| #define | ALPH_4000SR_50CF (0.0123456790f) |
| #define | ALPH_4000SR_5CF (0.0012484395f) |
| #define | ALPH_4000SR_75CF (0.0184049080f) |
| #define | ALPH_400SR_0p001CF (0.0000025000f) |
| #define | ALPH_400SR_0p01CF (0.0000249994f) |
| #define | ALPH_400SR_0p1CF (0.0002499375f) |
| #define | ALPH_400SR_100CF (0.2000000000f) |
| #define | ALPH_400SR_10CF (0.0243902439f) |
| #define | ALPH_400SR_150CF (0.2727272727f) |
| #define | ALPH_400SR_1CF (0.0024937656f) |
| #define | ALPH_400SR_200CF (0.3333333333f) |
| #define | ALPH_400SR_20CF (0.0476190476f) |
| #define | ALPH_400SR_2CF (0.0049751244f) |
| #define | ALPH_400SR_300CF (0.4285714286f) |
| #define | ALPH_400SR_30CF (0.0697674419f) |
| #define | ALPH_400SR_400CF (0.5000000000f) |
| #define | ALPH_400SR_50CF (0.1111111111f) |
| #define | ALPH_400SR_5CF (0.0123456790f) |
| #define | ALPH_400SR_75CF (0.1578947368f) |
| #define | ALPH_500SR_0p001CF (0.0000020000f) |
| #define | ALPH_500SR_0p01CF (0.0000199996f) |
| #define | ALPH_500SR_0p1CF (0.0001999600f) |
| #define | ALPH_500SR_0p2CF (0.0003999200f) |
| #define | ALPH_500SR_100CF (0.1666666667f) |
| #define | ALPH_500SR_10CF (0.0196078431f) |
| #define | ALPH_500SR_150CF (0.2307692308f) |
| #define | ALPH_500SR_1CF (0.0019960080f) |
| #define | ALPH_500SR_200CF (0.2857142857f) |
| #define | ALPH_500SR_20CF (0.0384615385f) |
| #define | ALPH_500SR_250CF (0.3333333333f) |
| #define | ALPH_500SR_2CF (0.0039840637f) |
| #define | ALPH_500SR_30CF (0.0566037736f) |
| #define | ALPH_500SR_375CF (0.4285714286f) |
| #define | ALPH_500SR_500CF (0.5000000000f) |
| #define | ALPH_500SR_50CF (0.0909090909f) |
| #define | ALPH_500SR_5CF (0.0099009901f) |
| #define | ALPH_500SR_75CF (0.1304347826f) |
| #define | ALPH_8000SR_0p001CF (0.0000001250f) |
| #define | ALPH_8000SR_0p01CF (0.0000012500f) |
| #define | ALPH_8000SR_0p1CF (0.0000124998f) |
| #define | ALPH_8000SR_1000CF (0.1111111111f) |
| #define | ALPH_8000SR_100CF (0.0123456790f) |
| #define | ALPH_8000SR_10CF (0.0012484395f) |
| #define | ALPH_8000SR_150CF (0.0184049080f) |
| #define | ALPH_8000SR_1CF (0.0001249844f) |
| #define | ALPH_8000SR_2000CF (0.2000000000f) |
| #define | ALPH_8000SR_200CF (0.0243902439f) |
| #define | ALPH_8000SR_20CF (0.0024937656f) |
| #define | ALPH_8000SR_250CF (0.0303030303f) |
| #define | ALPH_8000SR_2CF (0.0002499375f) |
| #define | ALPH_8000SR_30CF (0.0037359900f) |
| #define | ALPH_8000SR_4000CF (0.3333333333f) |
| #define | ALPH_8000SR_400CF (0.0476190476f) |
| #define | ALPH_8000SR_500CF (0.0588235294f) |
| #define | ALPH_8000SR_50CF (0.0062111801f) |
| #define | ALPH_8000SR_5CF (0.0006246096f) |
| #define | ALPH_8000SR_6000CF (0.4285714286f) |
| #define | ALPH_8000SR_75CF (0.0092879257f) |
| #define | ALPH_8000SR_8000CF (0.50000000000f) |
| #define | BETA_1000SR_0p001CF (0.9999990000f) |
| #define | BETA_1000SR_0p01CF (0.9999900001f) |
| #define | BETA_1000SR_0p1CF (0.9999000100f) |
| #define | BETA_1000SR_1000CF (0.50000000000f) |
| #define | BETA_1000SR_100CF (0.9090909091f) |
| #define | BETA_1000SR_10CF (0.9900990099f) |
| #define | BETA_1000SR_150CF (0.8695652174f) |
| #define | BETA_1000SR_1CF (0.9990009990f) |
| #define | BETA_1000SR_200CF (0.8333333333f) |
| #define | BETA_1000SR_20CF (0.9803921569f) |
| #define | BETA_1000SR_250CF (0.8000000000f) |
| #define | BETA_1000SR_2CF (0.9980039920f) |
| #define | BETA_1000SR_30CF (0.9708737864f) |
| #define | BETA_1000SR_400CF (0.7142857143f) |
| #define | BETA_1000SR_500CF (0.6666666667f) |
| #define | BETA_1000SR_50CF (0.9523809524f) |
| #define | BETA_1000SR_5CF (0.9950248756f) |
| #define | BETA_1000SR_750CF (0.5714285714f) |
| #define | BETA_1000SR_75CF (0.9302325581f) |
| #define | BETA_100SR_0p001CF (0.9999900001f) |
| #define | BETA_100SR_0p01CF (0.9999000100f) |
| #define | BETA_100SR_0p1CF (0.9990009990f) |
| #define | BETA_100SR_100CF (0.5000000000f) |
| #define | BETA_100SR_10CF (0.9090909091f) |
| #define | BETA_100SR_1CF (0.9900990099f) |
| #define | BETA_100SR_20CF (0.8333333333f) |
| #define | BETA_100SR_2CF (0.9803921569f) |
| #define | BETA_100SR_30CF (0.7692307692f) |
| #define | BETA_100SR_50CF (0.6666666667f) |
| #define | BETA_100SR_5CF (0.9523809524f) |
| #define | BETA_100SR_75CF (0.5714285714f) |
| #define | BETA_2000SR_0p001CF (0.9999995000f) |
| #define | BETA_2000SR_0p01CF (0.9999950000f) |
| #define | BETA_2000SR_0p1CF (0.9999500025f) |
| #define | BETA_2000SR_1000CF (0.6666666667f) |
| #define | BETA_2000SR_100CF (0.9523809524f) |
| #define | BETA_2000SR_10CF (0.9950248756f) |
| #define | BETA_2000SR_1500CF (0.5714285714f) |
| #define | BETA_2000SR_150CF (0.9302325581f) |
| #define | BETA_2000SR_1CF (0.9995002499f) |
| #define | BETA_2000SR_2000CF (0.50000000000f) |
| #define | BETA_2000SR_200CF (0.9090909091f) |
| #define | BETA_2000SR_20CF (0.9900990099f) |
| #define | BETA_2000SR_250CF (0.8888888889f) |
| #define | BETA_2000SR_2CF (0.9990009990f) |
| #define | BETA_2000SR_30CF (0.9852216749f) |
| #define | BETA_2000SR_400CF (0.8333333333f) |
| #define | BETA_2000SR_500CF (0.8000000000f) |
| #define | BETA_2000SR_50CF (0.9756097561f) |
| #define | BETA_2000SR_5CF (0.9975062344f) |
| #define | BETA_2000SR_75CF (0.9638554217f) |
| #define | BETA_200SR_0p001CF (0.9999950000f) |
| #define | BETA_200SR_0p01CF (0.9999500025f) |
| #define | BETA_200SR_0p1CF (0.9995002499f) |
| #define | BETA_200SR_100CF (0.6666666667f) |
| #define | BETA_200SR_10CF (0.9523809524f) |
| #define | BETA_200SR_150CF (0.5714285714f) |
| #define | BETA_200SR_1CF (0.9950248756f) |
| #define | BETA_200SR_200CF (0.5000000000f) |
| #define | BETA_200SR_20CF (0.9090909091f) |
| #define | BETA_200SR_2CF (0.9900990099f) |
| #define | BETA_200SR_30CF (0.8695652174f) |
| #define | BETA_200SR_50CF (0.8000000000f) |
| #define | BETA_200SR_5CF (0.9756097561f) |
| #define | BETA_200SR_75CF (0.7272727273f) |
| #define | BETA_250SR_0p001CF (0.9999960000f) |
| #define | BETA_250SR_0p01CF (0.9999600016f) |
| #define | BETA_250SR_0p1CF (0.9996001599f) |
| #define | BETA_250SR_100CF (0.7142857143f) |
| #define | BETA_250SR_10CF (0.9615384615f) |
| #define | BETA_250SR_150CF (0.6250000000f) |
| #define | BETA_250SR_187CF (0.5714285714f) |
| #define | BETA_250SR_1CF (0.9960159363f) |
| #define | BETA_250SR_20CF (0.9259259259f) |
| #define | BETA_250SR_250CF (0.5000000000f) |
| #define | BETA_250SR_2CF (0.9920634921f) |
| #define | BETA_250SR_30CF (0.8928571429f) |
| #define | BETA_250SR_50CF (0.8333333333f) |
| #define | BETA_250SR_5CF (0.9803921569f) |
| #define | BETA_250SR_75CF (0.7692307692f) |
| #define | BETA_4000SR_0p001CF (0.9999997500f) |
| #define | BETA_4000SR_0p01CF (0.9999975000f) |
| #define | BETA_4000SR_0p1CF (0.9999750006f) |
| #define | BETA_4000SR_1000CF (0.8000000000f) |
| #define | BETA_4000SR_100CF (0.9756097561f) |
| #define | BETA_4000SR_10CF (0.9975062344f) |
| #define | BETA_4000SR_150CF (0.9638554217f) |
| #define | BETA_4000SR_1CF (0.9997500625f) |
| #define | BETA_4000SR_2000CF (0.6666666667f) |
| #define | BETA_4000SR_200CF (0.9523809524f) |
| #define | BETA_4000SR_20CF (0.9950248756f) |
| #define | BETA_4000SR_250CF (0.9411764706f) |
| #define | BETA_4000SR_2CF (0.9995002499f) |
| #define | BETA_4000SR_3000CF (0.5714285714f) |
| #define | BETA_4000SR_30CF (0.9925558313f) |
| #define | BETA_4000SR_4000CF (0.50000000000f) |
| #define | BETA_4000SR_400CF (0.9090909091f) |
| #define | BETA_4000SR_500CF (0.8888888889f) |
| #define | BETA_4000SR_50CF (0.9876543210f) |
| #define | BETA_4000SR_5CF (0.9987515605f) |
| #define | BETA_4000SR_75CF (0.9815950920f) |
| #define | BETA_400SR_0p001CF (0.9999975000f) |
| #define | BETA_400SR_0p01CF (0.9999750006f) |
| #define | BETA_400SR_0p1CF (0.9997500625f) |
| #define | BETA_400SR_100CF (0.8000000000f) |
| #define | BETA_400SR_10CF (0.9756097561f) |
| #define | BETA_400SR_150CF (0.7272727273f) |
| #define | BETA_400SR_1CF (0.9975062344f) |
| #define | BETA_400SR_200CF (0.6666666667f) |
| #define | BETA_400SR_20CF (0.9523809524f) |
| #define | BETA_400SR_2CF (0.9950248756f) |
| #define | BETA_400SR_300CF (0.5714285714f) |
| #define | BETA_400SR_30CF (0.9302325581f) |
| #define | BETA_400SR_400CF (0.5000000000f) |
| #define | BETA_400SR_50CF (0.8888888889f) |
| #define | BETA_400SR_5CF (0.9876543210f) |
| #define | BETA_400SR_75CF (0.8421052632f) |
| #define | BETA_500SR_0p001CF (0.9999980000f) |
| #define | BETA_500SR_0p01CF (0.9999800004f) |
| #define | BETA_500SR_0p1CF (0.9998000400f) |
| #define | BETA_500SR_0p2CF (0.9996000800f) |
| #define | BETA_500SR_100CF (0.8333333333f) |
| #define | BETA_500SR_10CF (0.9803921569f) |
| #define | BETA_500SR_150CF (0.7692307692f) |
| #define | BETA_500SR_1CF (0.9980039920f) |
| #define | BETA_500SR_200CF (0.7142857143f) |
| #define | BETA_500SR_20CF (0.9615384615f) |
| #define | BETA_500SR_250CF (0.6666666667f) |
| #define | BETA_500SR_2CF (0.9960159363f) |
| #define | BETA_500SR_30CF (0.9433962264f) |
| #define | BETA_500SR_375CF (0.5714285714f) |
| #define | BETA_500SR_500CF (0.5000000000f) |
| #define | BETA_500SR_50CF (0.9090909091f) |
| #define | BETA_500SR_5CF (0.9900990099f) |
| #define | BETA_500SR_75CF (0.8695652174f) |
| #define | BETA_8000SR_0p001CF (0.9999998750f) |
| #define | BETA_8000SR_0p01CF (0.9999987500f) |
| #define | BETA_8000SR_0p1CF (0.9999875002f) |
| #define | BETA_8000SR_1000CF (0.8888888889f) |
| #define | BETA_8000SR_100CF (0.9876543210f) |
| #define | BETA_8000SR_10CF (0.9987515605f) |
| #define | BETA_8000SR_150CF (0.9815950920f) |
| #define | BETA_8000SR_1CF (0.9998750156f) |
| #define | BETA_8000SR_2000CF (0.8000000000f) |
| #define | BETA_8000SR_200CF (0.9756097561f) |
| #define | BETA_8000SR_20CF (0.9975062344f) |
| #define | BETA_8000SR_250CF (0.9696969697f) |
| #define | BETA_8000SR_2CF (0.9997500625f) |
| #define | BETA_8000SR_30CF (0.9962640100f) |
| #define | BETA_8000SR_4000CF (0.6666666667f) |
| #define | BETA_8000SR_400CF (0.9523809524f) |
| #define | BETA_8000SR_500CF (0.9411764706f) |
| #define | BETA_8000SR_50CF (0.9937888199f) |
| #define | BETA_8000SR_5CF (0.9993753904f) |
| #define | BETA_8000SR_6000CF (0.5714285714f) |
| #define | BETA_8000SR_75CF (0.9907120743f) |
| #define | BETA_8000SR_8000CF (0.50000000000f) |
| #define | MAX_NUMBER_IIR_CHANNELS 10 |
| #define | O0_LP_FILTER(val, input, alph, beta) (val = (((beta)*(val)) + ((alph)*(input)))) |
| #define | O0_LPF_VEC3(val, input, alph, beta) |
| #define | O1_LP_FILTER(val, input, alph, beta, c, dt) { c = beta*c + alph*((input-val)/dt); val = beta*(val + c*dt) + alph*input; } |
| #define | O1X_LP_FILTER(val, val2, input, alph, beta, c, dt2) { c = beta*c + alph*((input-val2)/dt2); val = val2 = beta*(val2 + c*dt2) + alph*input; } |
| #define | O1X_LP_FILTER_NO_INPUT(val, input, c, dt) { val = val + c*dt; } |
| #define | O1X_LPF_VEC3(val, val2, input, alph, beta, c, dt2) |
| #define | O1X_LPF_VEC3_NO_INPUT(val, input, c, dt) |
Functions | |
| void | dualToSingleImu (imu_t *result, const dual_imu_ok_t *di) |
| void | errorCheckDualImu (dual_imu_ok_t *di) |
| void | iir_filter_s16 (iif_filter_t *f, short input[], float output[]) |
| void | iir_filter_u16 (iif_filter_t *f, unsigned short input[], float output[]) |
| int | imuToPreintegratedImu (preintegrated_imu_t *pImu, const dual_imu_t *imu, float dt) |
| void | init_iir_filter (iif_filter_t *f) |
| void | integrateImu (preintegrated_imu_t *output, dual_imu_t *imu, dual_imu_t *imuLast, bool enableIMU1, bool enableIMU2) |
| Compute coning and sculling integrals from gyro and accelerometer samples. More... | |
| static __inline void | lpf_alpha_beta (float dt, float cornerFreq, float *alpha, float *beta) |
| Find alpha and beta parameters for single pole Low-Pass filter. More... | |
| int | preintegratedImuToIMU (dual_imu_t *imu, const preintegrated_imu_t *imuInt) |
| void | running_mean_filter (float mean[], float input[], int arraySize, int sampleCount) |
| Running Average Filter A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0. More... | |
| void | running_mean_filter_f64 (double mean[], float input[], int arraySize, int sampleCount) |
| Running Average Filter (double) A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0. More... | |
Macro Definition Documentation
◆ ACCUM_WORD_NBITS
◆ ALPH_1000SR_0p001CF
◆ ALPH_1000SR_0p01CF
◆ ALPH_1000SR_0p1CF
◆ ALPH_1000SR_1000CF
◆ ALPH_1000SR_100CF
◆ ALPH_1000SR_10CF
◆ ALPH_1000SR_150CF
◆ ALPH_1000SR_1CF
◆ ALPH_1000SR_200CF
◆ ALPH_1000SR_20CF
◆ ALPH_1000SR_250CF
◆ ALPH_1000SR_2CF
◆ ALPH_1000SR_30CF
◆ ALPH_1000SR_400CF
◆ ALPH_1000SR_500CF
◆ ALPH_1000SR_50CF
◆ ALPH_1000SR_5CF
◆ ALPH_1000SR_750CF
◆ ALPH_1000SR_75CF
◆ ALPH_100SR_0p001CF
◆ ALPH_100SR_0p01CF
◆ ALPH_100SR_0p1CF
◆ ALPH_100SR_100CF
◆ ALPH_100SR_10CF
◆ ALPH_100SR_1CF
◆ ALPH_100SR_20CF
◆ ALPH_100SR_2CF
◆ ALPH_100SR_30CF
◆ ALPH_100SR_50CF
◆ ALPH_100SR_5CF
◆ ALPH_100SR_75CF
◆ ALPH_2000SR_0p001CF
◆ ALPH_2000SR_0p01CF
◆ ALPH_2000SR_0p1CF
◆ ALPH_2000SR_1000CF
◆ ALPH_2000SR_100CF
◆ ALPH_2000SR_10CF
◆ ALPH_2000SR_1500CF
◆ ALPH_2000SR_150CF
◆ ALPH_2000SR_1CF
◆ ALPH_2000SR_2000CF
◆ ALPH_2000SR_200CF
◆ ALPH_2000SR_20CF
◆ ALPH_2000SR_250CF
◆ ALPH_2000SR_2CF
◆ ALPH_2000SR_30CF
◆ ALPH_2000SR_400CF
◆ ALPH_2000SR_500CF
◆ ALPH_2000SR_50CF
◆ ALPH_2000SR_5CF
◆ ALPH_2000SR_75CF
◆ ALPH_200SR_0p001CF
◆ ALPH_200SR_0p01CF
◆ ALPH_200SR_0p1CF
◆ ALPH_200SR_100CF
◆ ALPH_200SR_10CF
◆ ALPH_200SR_150CF
◆ ALPH_200SR_1CF
◆ ALPH_200SR_200CF
◆ ALPH_200SR_20CF
◆ ALPH_200SR_2CF
◆ ALPH_200SR_30CF
◆ ALPH_200SR_50CF
◆ ALPH_200SR_5CF
◆ ALPH_200SR_75CF
◆ ALPH_250SR_0p001CF
◆ ALPH_250SR_0p01CF
◆ ALPH_250SR_0p1CF
◆ ALPH_250SR_100CF
◆ ALPH_250SR_10CF
◆ ALPH_250SR_150CF
◆ ALPH_250SR_187CF
◆ ALPH_250SR_1CF
◆ ALPH_250SR_20CF
◆ ALPH_250SR_250CF
◆ ALPH_250SR_2CF
◆ ALPH_250SR_30CF
◆ ALPH_250SR_50CF
◆ ALPH_250SR_5CF
◆ ALPH_250SR_75CF
◆ ALPH_4000SR_0p001CF
◆ ALPH_4000SR_0p01CF
◆ ALPH_4000SR_0p1CF
◆ ALPH_4000SR_1000CF
◆ ALPH_4000SR_100CF
◆ ALPH_4000SR_10CF
◆ ALPH_4000SR_150CF
◆ ALPH_4000SR_1CF
◆ ALPH_4000SR_2000CF
◆ ALPH_4000SR_200CF
◆ ALPH_4000SR_20CF
◆ ALPH_4000SR_250CF
◆ ALPH_4000SR_2CF
◆ ALPH_4000SR_3000CF
◆ ALPH_4000SR_30CF
◆ ALPH_4000SR_4000CF
◆ ALPH_4000SR_400CF
◆ ALPH_4000SR_500CF
◆ ALPH_4000SR_50CF
◆ ALPH_4000SR_5CF
◆ ALPH_4000SR_75CF
◆ ALPH_400SR_0p001CF
◆ ALPH_400SR_0p01CF
◆ ALPH_400SR_0p1CF
◆ ALPH_400SR_100CF
◆ ALPH_400SR_10CF
◆ ALPH_400SR_150CF
◆ ALPH_400SR_1CF
◆ ALPH_400SR_200CF
◆ ALPH_400SR_20CF
◆ ALPH_400SR_2CF
◆ ALPH_400SR_300CF
◆ ALPH_400SR_30CF
◆ ALPH_400SR_400CF
◆ ALPH_400SR_50CF
◆ ALPH_400SR_5CF
◆ ALPH_400SR_75CF
◆ ALPH_500SR_0p001CF
◆ ALPH_500SR_0p01CF
◆ ALPH_500SR_0p1CF
◆ ALPH_500SR_0p2CF
◆ ALPH_500SR_100CF
◆ ALPH_500SR_10CF
◆ ALPH_500SR_150CF
◆ ALPH_500SR_1CF
◆ ALPH_500SR_200CF
◆ ALPH_500SR_20CF
◆ ALPH_500SR_250CF
◆ ALPH_500SR_2CF
◆ ALPH_500SR_30CF
◆ ALPH_500SR_375CF
◆ ALPH_500SR_500CF
◆ ALPH_500SR_50CF
◆ ALPH_500SR_5CF
◆ ALPH_500SR_75CF
◆ ALPH_8000SR_0p001CF
◆ ALPH_8000SR_0p01CF
◆ ALPH_8000SR_0p1CF
◆ ALPH_8000SR_1000CF
◆ ALPH_8000SR_100CF
◆ ALPH_8000SR_10CF
◆ ALPH_8000SR_150CF
◆ ALPH_8000SR_1CF
◆ ALPH_8000SR_2000CF
◆ ALPH_8000SR_200CF
◆ ALPH_8000SR_20CF
◆ ALPH_8000SR_250CF
◆ ALPH_8000SR_2CF
◆ ALPH_8000SR_30CF
◆ ALPH_8000SR_4000CF
◆ ALPH_8000SR_400CF
◆ ALPH_8000SR_500CF
◆ ALPH_8000SR_50CF
◆ ALPH_8000SR_5CF
◆ ALPH_8000SR_6000CF
◆ ALPH_8000SR_75CF
◆ ALPH_8000SR_8000CF
◆ BETA_1000SR_0p001CF
◆ BETA_1000SR_0p01CF
◆ BETA_1000SR_0p1CF
◆ BETA_1000SR_1000CF
◆ BETA_1000SR_100CF
◆ BETA_1000SR_10CF
◆ BETA_1000SR_150CF
◆ BETA_1000SR_1CF
◆ BETA_1000SR_200CF
◆ BETA_1000SR_20CF
◆ BETA_1000SR_250CF
◆ BETA_1000SR_2CF
◆ BETA_1000SR_30CF
◆ BETA_1000SR_400CF
◆ BETA_1000SR_500CF
◆ BETA_1000SR_50CF
◆ BETA_1000SR_5CF
◆ BETA_1000SR_750CF
◆ BETA_1000SR_75CF
◆ BETA_100SR_0p001CF
◆ BETA_100SR_0p01CF
◆ BETA_100SR_0p1CF
◆ BETA_100SR_100CF
◆ BETA_100SR_10CF
◆ BETA_100SR_1CF
◆ BETA_100SR_20CF
◆ BETA_100SR_2CF
◆ BETA_100SR_30CF
◆ BETA_100SR_50CF
◆ BETA_100SR_5CF
◆ BETA_100SR_75CF
◆ BETA_2000SR_0p001CF
◆ BETA_2000SR_0p01CF
◆ BETA_2000SR_0p1CF
◆ BETA_2000SR_1000CF
◆ BETA_2000SR_100CF
◆ BETA_2000SR_10CF
◆ BETA_2000SR_1500CF
◆ BETA_2000SR_150CF
◆ BETA_2000SR_1CF
◆ BETA_2000SR_2000CF
◆ BETA_2000SR_200CF
◆ BETA_2000SR_20CF
◆ BETA_2000SR_250CF
◆ BETA_2000SR_2CF
◆ BETA_2000SR_30CF
◆ BETA_2000SR_400CF
◆ BETA_2000SR_500CF
◆ BETA_2000SR_50CF
◆ BETA_2000SR_5CF
◆ BETA_2000SR_75CF
◆ BETA_200SR_0p001CF
◆ BETA_200SR_0p01CF
◆ BETA_200SR_0p1CF
◆ BETA_200SR_100CF
◆ BETA_200SR_10CF
◆ BETA_200SR_150CF
◆ BETA_200SR_1CF
◆ BETA_200SR_200CF
◆ BETA_200SR_20CF
◆ BETA_200SR_2CF
◆ BETA_200SR_30CF
◆ BETA_200SR_50CF
◆ BETA_200SR_5CF
◆ BETA_200SR_75CF
◆ BETA_250SR_0p001CF
◆ BETA_250SR_0p01CF
◆ BETA_250SR_0p1CF
◆ BETA_250SR_100CF
◆ BETA_250SR_10CF
◆ BETA_250SR_150CF
◆ BETA_250SR_187CF
◆ BETA_250SR_1CF
◆ BETA_250SR_20CF
◆ BETA_250SR_250CF
◆ BETA_250SR_2CF
◆ BETA_250SR_30CF
◆ BETA_250SR_50CF
◆ BETA_250SR_5CF
◆ BETA_250SR_75CF
◆ BETA_4000SR_0p001CF
◆ BETA_4000SR_0p01CF
◆ BETA_4000SR_0p1CF
◆ BETA_4000SR_1000CF
◆ BETA_4000SR_100CF
◆ BETA_4000SR_10CF
◆ BETA_4000SR_150CF
◆ BETA_4000SR_1CF
◆ BETA_4000SR_2000CF
◆ BETA_4000SR_200CF
◆ BETA_4000SR_20CF
◆ BETA_4000SR_250CF
◆ BETA_4000SR_2CF
◆ BETA_4000SR_3000CF
◆ BETA_4000SR_30CF
◆ BETA_4000SR_4000CF
◆ BETA_4000SR_400CF
◆ BETA_4000SR_500CF
◆ BETA_4000SR_50CF
◆ BETA_4000SR_5CF
◆ BETA_4000SR_75CF
◆ BETA_400SR_0p001CF
◆ BETA_400SR_0p01CF
◆ BETA_400SR_0p1CF
◆ BETA_400SR_100CF
◆ BETA_400SR_10CF
◆ BETA_400SR_150CF
◆ BETA_400SR_1CF
◆ BETA_400SR_200CF
◆ BETA_400SR_20CF
◆ BETA_400SR_2CF
◆ BETA_400SR_300CF
◆ BETA_400SR_30CF
◆ BETA_400SR_400CF
◆ BETA_400SR_50CF
◆ BETA_400SR_5CF
◆ BETA_400SR_75CF
◆ BETA_500SR_0p001CF
◆ BETA_500SR_0p01CF
◆ BETA_500SR_0p1CF
◆ BETA_500SR_0p2CF
◆ BETA_500SR_100CF
◆ BETA_500SR_10CF
◆ BETA_500SR_150CF
◆ BETA_500SR_1CF
◆ BETA_500SR_200CF
◆ BETA_500SR_20CF
◆ BETA_500SR_250CF
◆ BETA_500SR_2CF
◆ BETA_500SR_30CF
◆ BETA_500SR_375CF
◆ BETA_500SR_500CF
◆ BETA_500SR_50CF
◆ BETA_500SR_5CF
◆ BETA_500SR_75CF
◆ BETA_8000SR_0p001CF
◆ BETA_8000SR_0p01CF
◆ BETA_8000SR_0p1CF
◆ BETA_8000SR_1000CF
◆ BETA_8000SR_100CF
◆ BETA_8000SR_10CF
◆ BETA_8000SR_150CF
◆ BETA_8000SR_1CF
◆ BETA_8000SR_2000CF
◆ BETA_8000SR_200CF
◆ BETA_8000SR_20CF
◆ BETA_8000SR_250CF
◆ BETA_8000SR_2CF
◆ BETA_8000SR_30CF
◆ BETA_8000SR_4000CF
◆ BETA_8000SR_400CF
◆ BETA_8000SR_500CF
◆ BETA_8000SR_50CF
◆ BETA_8000SR_5CF
◆ BETA_8000SR_6000CF
◆ BETA_8000SR_75CF
◆ BETA_8000SR_8000CF
◆ MAX_NUMBER_IIR_CHANNELS
◆ O0_LP_FILTER
| #define O0_LP_FILTER | ( | val, | |
| input, | |||
| alph, | |||
| beta | |||
| ) | (val = (((beta)*(val)) + ((alph)*(input)))) |
◆ O0_LPF_VEC3
| #define O0_LPF_VEC3 | ( | val, | |
| input, | |||
| alph, | |||
| beta | |||
| ) |
Value:
{O0_LP_FILTER(val[0],input[0],alph,beta); \
O0_LP_FILTER(val[1],input[1],alph,beta); \
O0_LP_FILTER(val[2],input[2],alph,beta);}
◆ O1_LP_FILTER
| #define O1_LP_FILTER | ( | val, | |
| input, | |||
| alph, | |||
| beta, | |||
| c, | |||
| dt | |||
| ) | { c = beta*c + alph*((input-val)/dt); val = beta*(val + c*dt) + alph*input; } |
◆ O1X_LP_FILTER
| #define O1X_LP_FILTER | ( | val, | |
| val2, | |||
| input, | |||
| alph, | |||
| beta, | |||
| c, | |||
| dt2 | |||
| ) | { c = beta*c + alph*((input-val2)/dt2); val = val2 = beta*(val2 + c*dt2) + alph*input; } |
◆ O1X_LP_FILTER_NO_INPUT
| #define O1X_LP_FILTER_NO_INPUT | ( | val, | |
| input, | |||
| c, | |||
| dt | |||
| ) | { val = val + c*dt; } |
◆ O1X_LPF_VEC3
| #define O1X_LPF_VEC3 | ( | val, | |
| val2, | |||
| input, | |||
| alph, | |||
| beta, | |||
| c, | |||
| dt2 | |||
| ) |
Value:
{O1X_LP_FILTER(val[0],val2[0],input[0],alph,beta,c[0],dt2); \
O1X_LP_FILTER(val[1],val2[1],input[1],alph,beta,c[1],dt2); \
O1X_LP_FILTER(val[2],val2[2],input[2],alph,beta,c[2],dt2);}
◆ O1X_LPF_VEC3_NO_INPUT
| #define O1X_LPF_VEC3_NO_INPUT | ( | val, | |
| input, | |||
| c, | |||
| dt | |||
| ) |
Value:
{O1X_LP_FILTER_NO_INPUT(val[0],input[0],c[0],dt); \
O1X_LP_FILTER_NO_INPUT(val[1],input[1],c[1],dt); \
O1X_LP_FILTER_NO_INPUT(val[2],input[2],c[2],dt);}
Function Documentation
◆ dualToSingleImu()
| void dualToSingleImu | ( | imu_t * | result, |
| const dual_imu_ok_t * | di | ||
| ) |
Definition at line 171 of file filters.cpp.
◆ errorCheckDualImu()
| void errorCheckDualImu | ( | dual_imu_ok_t * | di | ) |
Definition at line 153 of file filters.cpp.
◆ iir_filter_s16()
| void iir_filter_s16 | ( | iif_filter_t * | f, |
| short | input[], | ||
| float | output[] | ||
| ) |
Definition at line 78 of file filters.cpp.
◆ iir_filter_u16()
| void iir_filter_u16 | ( | iif_filter_t * | f, |
| unsigned short | input[], | ||
| float | output[] | ||
| ) |
Definition at line 61 of file filters.cpp.
◆ imuToPreintegratedImu()
| int imuToPreintegratedImu | ( | preintegrated_imu_t * | pImu, |
| const dual_imu_t * | imu, | ||
| float | dt | ||
| ) |
Definition at line 215 of file filters.cpp.
◆ init_iir_filter()
| void init_iir_filter | ( | iif_filter_t * | f | ) |
Definition at line 36 of file filters.cpp.
◆ integrateImu()
| void integrateImu | ( | preintegrated_imu_t * | output, |
| dual_imu_t * | imu, | ||
| dual_imu_t * | imuLast, | ||
| bool | enableIMU1, | ||
| bool | enableIMU2 | ||
| ) |
Compute coning and sculling integrals from gyro and accelerometer samples.
- Parameters
-
output Coning and sculling integral imu Gyro and accelerometer sample. imuLast Previous gyro and accelerometer sample.
Definition at line 234 of file filters.cpp.
◆ lpf_alpha_beta()
|
static |
◆ preintegratedImuToIMU()
| int preintegratedImuToIMU | ( | dual_imu_t * | imu, |
| const preintegrated_imu_t * | imuInt | ||
| ) |
Definition at line 198 of file filters.cpp.
◆ running_mean_filter()
| void running_mean_filter | ( | float | input[], |
| float | mean[], | ||
| int | arraySize, | ||
| int | sampleCount | ||
| ) |
Running Average Filter A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0.
- Parameters
-
mean Average of input input Floating point value to be included in the average. arraySize Array length of mean and input arrays. sampleCount Sample number of input. 0 causes filter to be reset. input Floating point value to be included in the average. mean Average of input arraySize Array length of mean and input arrays. sampleCount Sample number of input. 0 causes filter to be reset.
Definition at line 111 of file filters.cpp.
◆ running_mean_filter_f64()
| void running_mean_filter_f64 | ( | double | mean[], |
| float | input[], | ||
| int | arraySize, | ||
| int | sampleCount | ||
| ) |
Running Average Filter (double) A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0.
- Parameters
-
mean Average of input input Double (float 64) value to be included in the average. arraySize Array length of mean and input arrays. sampleCount Sample number of input. 0 causes filter to be reset. input Double (float 64) value to be included in the average. mean Average of input arraySize Array length of mean and input arrays. sampleCount Sample number of input. 0 causes filter to be reset.
Definition at line 137 of file filters.cpp.