Struct containing configuration and state of a SISO filter. More...

#include <rc/math/filter.h>

Data Fields
transfer function properties
int	order
	transfer function order More...

double	dt
	timestep in seconds More...

double	gain
	Additional gain multiplier, usually 1.0. More...

rc_vector_t	num
	numerator coefficients More...

rc_vector_t	den
	denominator coefficients More...

saturation settings
int	sat_en
	set to 1 by enable_saturation() More...

double	sat_min
	lower saturation limit More...

double	sat_max
	upper saturation limit More...

int	sat_flag
	1 if saturated on the last step More...

soft start settings
int	ss_en
	set to 1 by enbale_soft_start() More...

double	ss_steps
	steps before full output allowed More...

dynamically allocated ring buffers
rc_ringbuf_t	in_buf

rc_ringbuf_t	out_buf

other
double	newest_input
	shortcut for the most recent input More...

double	newest_output
	shortcut for the most recent output More...

uint64_t	step
	steps since last reset More...

int	initialized
	initialization flag More...

Detailed Description

Struct containing configuration and state of a SISO filter.

Also points to dynamically allocated memory which make it necessary to use the allocation and free function in this API for proper use. The user can read and modify values directly from ths struct.

Examples:: rc_altitude.c, rc_balance.c, rc_test_bmp.c, rc_test_complementary_filters.c, and rc_test_filters.c.

Field Documentation

◆ order

int order

transfer function order

◆ dt

double dt

timestep in seconds

◆ gain

double gain

Additional gain multiplier, usually 1.0.

Examples:: rc_balance.c.

◆ num

rc_vector_t num

numerator coefficients

◆ den

rc_vector_t den

denominator coefficients

◆ sat_en

int sat_en

set to 1 by enable_saturation()

◆ sat_min

double sat_min

lower saturation limit

◆ sat_max

double sat_max

upper saturation limit

◆ sat_flag

int sat_flag

1 if saturated on the last step

◆ ss_en

int ss_en

set to 1 by enbale_soft_start()

◆ ss_steps

double ss_steps

steps before full output allowed

◆ in_buf

rc_ringbuf_t in_buf

◆ out_buf

rc_ringbuf_t out_buf

◆ newest_input

double newest_input

shortcut for the most recent input

◆ newest_output

double newest_output

shortcut for the most recent output

Examples:: rc_altitude.c.

◆ step

uint64_t step

steps since last reset

◆ initialized

int initialized

initialization flag

The documentation for this struct was generated from the following file:

filter.h

Data Fields