mountcontrol/LibSidServo/movingfilter.c

46 lines
1022 B
C

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#define NFILT (5)
static double filterK[NFILT];
static void buildFilter(){
filterK[NFILT-1] = 1.;
double sum = 1.;
for(int i = NFILT-2; i > -1; --i){
filterK[i] = (filterK[i+1] + 1.) * 1.1;
sum += filterK[i];
}
for(int i = 0; i < NFILT; ++i){
filterK[i] /= sum;
fprintf(stderr, "%d: %g\n", i, filterK[i]);
}
}
static double filter(double val){
static int ctr = 0;
static double lastvals[NFILT] = {0.};
for(int i = NFILT-1; i > 0; --i) lastvals[i] = lastvals[i-1];
lastvals[0] = val;
double r = 0.;
if(ctr < NFILT){
++ctr;
return val;
}
for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[i];
return r;
}
int main(int argc, char **argv){
buildFilter();
printf("Signal\tNoiced\tFiltered\n");
for(int i = 0; i < 100; ++i){
double di = (double)i;
double sig = di * di / 1e5 + sin(i * M_PI / 1500.);
double noiced = sig + 0.1 * (drand48() - 0.5);
printf("%.3f\t%.3f\t%.3f\n", sig, noiced, filter(noiced));
}
return 0;
}