| ??? 05/06/05 16:56 Read: times |
#93101 - A (better?) way Responding to: ???'s previous message |
Stanley,
I think Steve is suggesting the formula in your post doesn't implement hysteresis, or deadband. Try this - Delta = |ADCNew - ADCAccepted| if (Delta => HystVal) then ADCAccepted = ADCNew Elevation Position = f(ADCAccepted) Russell Bull's post of implementing filtering could be useful, too. Try implementing an exponential filter in the firmware similar to the following - ADCAccepted = Kpast * ADCAccepted + Knew * ADCNew subject to: Kpast + Knew = 1. Recognize the following - if Knew > Kpast, the filter output is more responsive if Kpast > Knew, the filter output is more sluggish Make Knew and Kpast easily implemented using right shifts, or right shifts and adds of the variables ADCAccepted and ADCNew. My experience is that lots of precision in the Knew and Kpast weighting is not necessary EXCEPT when the constants are in a high gain loop. In that case the high gain induces rounding errors that are exacerbated by truncation error from previous operations. Cheers, Bruce |
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