Join GitHub today
GitHub is home to over 20 million developers working together to host and review code, manage projects, and build software together.
Common Filter Interface/Macros/library #199
More and more sensor data may benefit from simple filtering to address issues with sensor environment and performance (noise, vibration, etc). Examples include IMUs, baros, sonar, etc.
It would be useful to have a common set of functions/structs/macros to implement a variety of different filter types, e.g.:
If a common method could be used where one simply uses a macro to define the type, size, etc of the filter, then call functions to add new raw data, run a sensor loop, get the new filtered value, get any performance metrics, etc, it would be easier to implement over a number of subsystems and drivers, and easier to keep it optimized and up to date.
Currently some imu subsystems do that directly in the driver (e.g. imu_navgo), but it would probably be nicer to pull this out and be able to specify which filter to use regardless of which IMU driver is providing the sensor data.