参照模拟RC滤波器计算式计算截止频率
# definem _ pi _ float 3.14159265358979323846 ftypedefstructlpffilter { float RC; //模拟RC滤波器电阻和电容值的乘积float dT; //数据更新时间间隔(秒) float k; //滤波器系数float state; //过滤结果}LpfFilter_t; /**设定滤波的截止频率* *filter:* f_cut :截止频率* dt:数据更新间隔(秒(*/voidfilterinit (LPF filter _ t * filter,LPF * filter //数据更新间隔(秒(filter-k=filter-dt/) filter-RCfilter-dt ); //滤波系数(/**应用低通滤波(* *filter:* input :新输入数据)/floatlpfilterapply (pt1 filter _ t * filter,float input ) (高频带已移除) filter-state=filter-state filter-k * (输入- filter-state ) ); 返回过滤器-状态; }参考:
3359 github.com/beta flight/beta flight/blob/master/src/main/common/filter.c