src/main/flight/smith_predictor.h

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  *
  24  * This code is a derivative of work done in EmuFlight Project https://github.com/emuflight/EmuFlight
  25  *
  26  */
  27
  28 #pragma once
  29
  30 #include <stdint.h>
  31 #include "common/filter.h"
  32
  33 #define MAX_SMITH_SAMPLES 64
  34
  35 typedef struct smithPredictor_s {
  36     bool enabled;
  37     uint8_t samples;
  38     uint8_t idx;
  39     float data[MAX_SMITH_SAMPLES + 1];
  40     pt1Filter_t smithPredictorFilter;
  41     float smithPredictorStrength;
  42 } smithPredictor_t;
  43
  44 float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sample);
  45 void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime);