A class to implement a derivative (slope) filter See http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/. More...

#include <AP_HAL/AP_HAL.h>
#include <Filter/Filter.h>
#include <Filter/DerivativeFilter.h>

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Macros
#define	USE_NOISE 0

Functions
void	setup ()

void	loop ()

static float	noise (void)

	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -- More...

DerivativeFilter< float, 11 >	derivative

Detailed Description

A class to implement a derivative (slope) filter See http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/.

Definition in file Derivative.cpp.

Macro Definition Documentation

◆ USE_NOISE

#define USE_NOISE 0

Definition at line 14 of file Derivative.cpp.

Function Documentation

◆ AP_HAL_MAIN()

AP_HAL_MAIN ( )

Referenced by loop().

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◆ loop()

void loop ( void )

Definition at line 31 of file Derivative.cpp.

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◆ noise()

static float noise ( void )

static

Definition at line 21 of file Derivative.cpp.

Referenced by AP_Compass_SITL::_timer(), DataFlash_Class::Log_Write_Radio(), and loop().

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◆ setup()

void setup ( void )

Definition at line 19 of file Derivative.cpp.

Variable Documentation

◆ derivative

DerivativeFilter<float, 11> derivative

Definition at line 16 of file Derivative.cpp.

Referenced by PID::get_pid(), AC_PID::set_input_filter_d(), and AC_PID_2D::set_input_filter_d().

◆ hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 12 of file Derivative.cpp.

Macros

Functions

Variables