Files
flix/flix/lpf.h
T
Oleg Kalachev 3816ae376f Bring back initializing the lpf with the first input value
It's much better for voltage measuring and slightly better for gyro bias estimation.
2026-05-17 06:21:13 +03:00

35 lines
712 B
C++

// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// Low pass filter implementation
#pragma once
template <typename T> // Using template to make the filter usable for scalar and vector values
class LowPassFilter {
public:
float alpha; // smoothing constant, 1 means filter disabled
T output;
LowPassFilter(float alpha): alpha(alpha) {};
T update(const T input) {
if (!init) {
init = true;
return output = input;
}
return output += alpha * (input - output);
}
void setCutOffFrequency(float cutOffFreq, float dt) {
alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
}
void reset() {
init = false;
}
private:
bool init = false;
};