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Dynamic RC Filtering #788

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Dynamic RC Filtering #788

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2d31582
choose ptn filter order for rc filtering
Quick-Flash Mar 2, 2022
553f795
rc velocity filter boost
Quick-Flash Mar 2, 2022
07bbecc
dynamic-rc-filtering
nerdCopter Sep 14, 2022
0b41710
removed unused variable and fix comment
Quick-Flash Sep 14, 2022
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dynamic-rc-filtering 
* move commentl fix tabs
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@nerdCopter
nerdCopter committed Nov 22, 2022
commit 07bbeccb76d98b381a5c9fe2ba5e34fc6c744648
14 changes: 6 additions & 8 deletions src/main/common/filter.c
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Expand Up @@ -313,19 +313,17 @@ void simpleLPFilterInit(simpleLowpassFilter_t *filter, int32_t beta, int32_t fpS
const float PTN_SCALE[3] = { 1.0f, 1.553773974f, 1.961459177f };

void ptnFilterInit(ptnFilter_t *filter, uint8_t order, uint16_t f_cut, float dT) {

// AdjCutHz = CutHz /(sqrtf(powf(2, 1/Order) -1))
const float ScaleF[] = { 1.0f, 1.553773974f, 1.961459177f };
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float Adj_f_cut;

filter->order = (order > 3) ? 3 : order;
for (int n = 1; n <= filter->order; n++) {
filter->state[n] = 0.0f;
filter->order = (order > 3) ? 3 : order;
for (int n = 1; n <= filter->order; n++) {
filter->state[n] = 0.0f;
}

Adj_f_cut = f_cut * PTN_SCALE[filter->order - 1];
// AdjCutHz = CutHz /(sqrtf(powf(2, 1/Order) -1))
Adj_f_cut = f_cut * PTN_SCALE[filter->order - 1];

filter->k = dT / ((1.0f / (2.0f * M_PIf * Adj_f_cut)) + dT);
filter->k = dT / ((1.0f / (2.0f * M_PIf * Adj_f_cut)) + dT);
} // ptnFilterInit

FAST_CODE void ptnFilterUpdate(ptnFilter_t *filter, float f_cut, float dT) {
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