InnovationLpf Class Reference

First order "alpha" IIR digital filter with input saturation. More...

#include <InnovationLpf.hpp>

Collaboration diagram for InnovationLpf:

Public Member Functions
	InnovationLpf ()=default
	~InnovationLpf ()=default
void	reset (float val=0.f)
float	update (float val, float alpha, float spike_limit)
	Update the filter with a new value and returns the filtered state The new value is constained by the limit set in setSpikeLimit. More...

Static Public Member Functions
static float	computeAlphaFromDtAndTauInv (float dt, float tau_inv)
	Helper function to compute alpha from dt and the inverse of tau. More...

Private Attributes
float	_x {}
	current state of the filter More...

Detailed Description

First order "alpha" IIR digital filter with input saturation.

Definition at line 40 of file InnovationLpf.hpp.

Constructor & Destructor Documentation

InnovationLpf()

InnovationLpf::InnovationLpf ( )

default

~InnovationLpf()

InnovationLpf::~InnovationLpf ( )

default

Member Function Documentation

computeAlphaFromDtAndTauInv()

static float InnovationLpf::computeAlphaFromDtAndTauInv ( float  dt, float  tau_inv  )

inlinestatic

Helper function to compute alpha from dt and the inverse of tau.

Parameters

dt	sampling time in seconds
tau_inv	inverse of the time constant of the filter

Returns

alpha, the normalized weight of a new measurement

Definition at line 72 of file InnovationLpf.hpp.

References math::constrain(), and f().

Referenced by PreFlightChecker::update().

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reset()

void InnovationLpf::reset ( float  val = 0.f )

inline

Definition at line 46 of file InnovationLpf.hpp.

References _x.

Referenced by PreFlightChecker::reset().

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update()

float InnovationLpf::update ( float  val, float  alpha, float  spike_limit  )

inline

Update the filter with a new value and returns the filtered state The new value is constained by the limit set in setSpikeLimit.

Parameters

val	new input
alpha	normalized weight of the new input
spike_limit	the amplitude of the saturation at the input of the filter

Returns

filtered output

Definition at line 56 of file InnovationLpf.hpp.

References _x, and math::constrain().

Referenced by PreFlightChecker::preFlightCheckHeadingFailed(), PreFlightChecker::preFlightCheckHeightFailed(), PreFlightChecker::preFlightCheckHorizVelFailed(), and PreFlightChecker::preFlightCheckVertVelFailed().

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Member Data Documentation

_x

float InnovationLpf::_x {}

private

current state of the filter

Definition at line 78 of file InnovationLpf.hpp.

Referenced by reset(), and update().

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The documentation for this class was generated from the following file:

• src/modules/ekf2/Utility/InnovationLpf.hpp