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Remove filter functions

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-21 21:32:57 +02:00
parent b20a24bf66
commit e451466633
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GPG key ID: D850A5F772E880F9
1 changed files with 0 additions and 66 deletions
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66
interface_lib/src/device3.c
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@ -24,7 +24,6 @@
#include "device3.h"
#include <float.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@ -45,24 +44,6 @@ struct device3_calibration_t {
FusionVector hardIronOffset;
};
struct device3_correction_t {
FusionQuaternion inverseDrift;
FusionQuaternion stable;
};
static void reset_filter_v3(float* filter) {
for (uint8_t i = 0; i < 3; i++) {
const uint8_t i4 = i * 4;
filter[i4 + 0] = -FLT_MAX;
filter[i4 + 1] = -FLT_MIN;
filter[i4 + 2] = +FLT_MAX;
filter[i4 + 3] = +FLT_MIN;
}
}
device3_type* device3_open(device3_event_callback callback) {
device3_type* device = (device3_type*) malloc(sizeof(device3_type));
@ -438,23 +419,6 @@ static void apply_calibration(const device3_type* device,
);
}
static void update_filter_v3(float* filter, FusionVector v3) {
for (uint8_t i = 0; i < 3; i++) {
const float v = v3.array[i];
const uint8_t i4 = i * 4;
if (v <= -0.0f) {
filter[i4 + 0] = max(v, filter[i4 + 0]);
filter[i4 + 1] = min(v, filter[i4 + 1]);
}
if (v >= +0.0f) {
filter[i4 + 2] = min(v, filter[i4 + 2]);
filter[i4 + 3] = max(v, filter[i4 + 3]);
}
}
}
int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
if (!device) {
perror("No device!\n");
@ -575,36 +539,6 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
return 0;
}
static void apply_filter_v3(const float* filter, FusionVector* v3) {
for (uint8_t i = 0; i < 3; i++) {
float v = v3->array[i];
const uint8_t i4 = i * 4;
if ((v <= -0.0f) && (filter[i4 + 1] < filter[i4 + 0])) {
v = (v - filter[i4 + 0]) * filter[i4 + 1] / (filter[i4 + 1] - filter[i4 + 0]);
}
if ((v >= +0.0f) && (filter[i4 + 3] > filter[i4 + 2])) {
v = (v - filter[i4 + 2]) * filter[i4 + 3] / (filter[i4 + 3] - filter[i4 + 2]);
}
v3->array[i] = v;
}
}
static void apply_filter_drop_v3(const float* filter, FusionVector* v3) {
for (uint8_t i = 0; i < 3; i++) {
const float v = v3->array[i] * 1e-5f;
const uint8_t i4 = i * 4;
if ((v >= filter[i4 + 0]) && (v <= filter[i4 + 2])) {
v3->array[i] = 0.0f;
} else {
v3->array[i] -= (filter[i4 + 0] + filter[i4 + 2]) * 0.5f;
}
}
}
int device3_read(device3_type* device, int timeout) {
if (!device) {
perror("No device!\n");