52 lines
1.8 KiB
Text
52 lines
1.8 KiB
Text
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Four different types of digital low-pass filters can be configured inside the
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autopilot configuration file. The types of filter are:
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* Exponential
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* Double exponential
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* Moving average
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* Noise spike filter
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Example:
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<filter>
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<name>pressure-rate-filter</name>
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<debug>false</debug>
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<type>double-exponential</type>
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<input>/autopilot/internal/pressure-rate</input>
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<output>/autopilot/internal/filtered-pressure-rate</output>
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<filter-time>0.1</filter-time>
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</filter>
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This will filter the pressure-rate property. The output will be to a new
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property called filtered-pressure-rate. You can select any numerical property
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from the property tree. The input property will not be affected by the filter,
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it will stay the same as it would if no filter was configured.
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<name> The name of the filter. Give it a sensible name!
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<debug> If this tag is set to true debugging info will be printed on the
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console.
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<type> The type of filter. This can be exponential, double-exponential,
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moving-average or noise-spike.
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<input> The input property to be filtered. This should of course be a
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numerical property, filtering a text string or a boolean value does not make
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sense.
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<output> The filtered value. You can make up any new property.
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These are the tags that are applicable to all filter types. The folowing tags
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are filter specific.
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<filter-time> This tag is only applicable for the exponential and
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double-exponential filter types. It controls the bandwidth of the filter. The
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bandwith in Hz of the filter is: 1/filter-time. So a low-pass filter with a
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bandwith of 10Hz would have a filter time of 1/10 = 0.1
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<samples> This tag only makes sense for the moving-average filter. It says how
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many past samples to average.
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<max-rate-of-change> This tag is applicable for the noise-spike filter. Is
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says how much the value is allowed to change per second.
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