Common Filter Interface/Macros/library #199

Closed
scdwyer opened this Issue May 23, 2012 · 5 comments

Comments

Projects
None yet
4 participants
@scdwyer
Contributor

scdwyer commented May 23, 2012

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.

@flixr

This comment has been minimized.

Show comment Hide comment
@flixr

flixr Jun 9, 2012

Owner

Would be nice indeed! Has anyone started on this already?

Owner

flixr commented Jun 9, 2012

Would be nice indeed! Has anyone started on this already?

@scdwyer

This comment has been minimized.

Show comment Hide comment
@scdwyer

scdwyer Jun 10, 2012

Contributor

There is kind of a start to it: psinha/paparazzi@b0c593d Needs more work though.

Contributor

scdwyer commented Jun 10, 2012

There is kind of a start to it: psinha/paparazzi@b0c593d Needs more work though.

@scdwyer

This comment has been minimized.

Show comment Hide comment
@scdwyer

scdwyer Aug 21, 2012

Contributor

The median filter that @gautierhattenberger added seems like a pretty nice way to do it. Would it be reasonable to add others in the same way? Any use for you @psinha? See commit here: ac2d056

Contributor

scdwyer commented Aug 21, 2012

The median filter that @gautierhattenberger added seems like a pretty nice way to do it. Would it be reasonable to add others in the same way? Any use for you @psinha? See commit here: ac2d056

@flixr

This comment has been minimized.

Show comment Hide comment
@flixr

flixr Feb 12, 2013

Owner

Also what about the moving average filter in the aspirin_improved branch?
Anyone up to implement/merge this properly?

Owner

flixr commented Feb 12, 2013

Also what about the moving average filter in the aspirin_improved branch?
Anyone up to implement/merge this properly?

@OpenUAS OpenUAS modified the milestones: v5.6, v6.0 Nov 3, 2014

@gautierhattenberger

This comment has been minimized.

Show comment Hide comment
@gautierhattenberger

gautierhattenberger Dec 12, 2015

Owner

Although it would be nice to have more basic filters, I'm not sure it makes sense to keep this issue opened.
When people need them, we can expect that they will add them.
Experience shows that simple filters are usually re-coded each time...

Although it would be nice to have more basic filters, I'm not sure it makes sense to keep this issue opened.
When people need them, we can expect that they will add them.
Experience shows that simple filters are usually re-coded each time...

@flixr flixr removed this from the v6.0 milestone Dec 12, 2015

@flixr flixr closed this Dec 12, 2015

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment