Package-level declarations

Base class for an averaging filter that can be used to filter sensor data in estimators, such as accelerometer samples to obtain gravity by low-pass filtering.

First order IIR averaging filter. IIR (Infinite Impulse Response) filters of first order follow expressions like the one below: output = a * input + b * prevOutput, where a = 1.0-b, where: b = e^-2πfc -> ln(b) = -2πfc -> fc = -ln(b) / (2π) and fc is the cutoff frequency. For typical default values: dt = 0.02 (50 Hz) s, and timeConstant = 0.1, dt is the time interval between samples, b = timeConstant / (timeConstant + dt) = 0.1 / (0.1 + 0.02) b = 0.8333 Consequently fc = -ln(0.8333) / (2π) = 0.02 Hz

FIR mean averaging filter. Computes average values using a FIR (Finite Impulse Response) filter with a length equal to: ceil(1.0 / dt * timeConstant), where dt is the time interval between samples. For typical default values: dt = 0.02 (%0Hz) and timeConstant = 0.1. Consequently FIR length is 5 samples.

Median averaging filter. Computes median values using a filter with a length equal to: ceil(1.0 / dt * timeConstant), where dt is the time interval between samples. For typical default values: dt = 0.02 (%0Hz) and timeConstant = 0.1. Consequently FIR length is 5 samples.