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Roy Vegard Ovesen:

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I've put together a readme file that describes how to configure the digital
filters.
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ehofman 2004-10-14 11:29:36 +00:00
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Four different types of digital low-pass filters can be configured inside the
autopilot configuration file. The types of filter are:
* Exponential
* Double exponential
* Moving average
* Noise spike filter
Example:
<filter>
<name>pressure-rate-filter</name>
<debug>false</debug>
<type>double-exponential</type>
<input>/autopilot/internal/pressure-rate</input>
<output>/autopilot/internal/filtered-pressure-rate</output>
<filter-time>0.1</filter-time>
</filter>
This will filter the pressure-rate property. The output will be to a new
property called filtered-pressure-rate. You can select any numerical property
from the property tree. The input property will not be affected by the filter,
it will stay the same as it would if no filter was configured.
<name> The name of the filter. Give it a sensible name!
<debug> If this tag is set to true debugging info will be printed on the
console.
<type> The type of filter. This can be exponential, double-exponential,
moving-average or noise-spike.
<input> The input property to be filtered. This should of course be a
numerical property, filtering a text string or a boolean value does not make
sense.
<output> The filtered value. You can make up any new property.
These are the tags that are applicable to all filter types. The folowing tags
are filter specific.
<filter-time> This tag is only applicable for the exponential and
double-exponential filter types. It controls the bandwidth of the filter. The
bandwith in Hz of the filter is: 1/filter-time. So a low-pass filter with a
bandwith of 10Hz would have a filter time of 1/10 = 0.1
<samples> This tag only makes sense for the moving-average filter. It says how
many past samples to average.
<max-rate-of-change> This tag is applicable for the noise-spike filter. Is
says how much the value is allowed to change per second.