Fix lowpass & refactor filter structure #119
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Rayman
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Timple,
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cesar-lopez-mar
Timple
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The amount of comments I made may suggest otherwise, but I really like this change. You added a nice abstraction, cleaned up Nice work! |
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lewie-donckers
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Rayman
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Timple
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Mar 14, 2022
cesar-lopez-mar
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Mar 14, 2022
- Fixed second order lowpass - Made the crossover frequency and damping tuneble - Use the filtered signal for PID calculations - Add a derivative filter
MCFurry
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Mar 14, 2022
rokusottervanger
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Timple
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How the lowpass filter was derived: https://github.com/nobleo/path_tracking_pid/blob/fix/lowpass/doc/second_order_lowpass_tustin.ipynb
PidDebug output with lowpass crossover frequency at 20, 4 and 1 Hz.
