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1 | #include "pch.h" | |||
2 | #include "biquad.h" | |||
3 | ||||
4 | 4 | TEST(util, biQuad) { | ||
5 |
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1 | EngineTestHelper eth(engine_type_e::TEST_ENGINE); // LOL engineConfiguration->verboseQuad | |
6 |
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1 | Biquad b; | |
7 | 1 | float filtered = 0; | ||
8 | ||||
9 | // 0.01 means filter bandwidth of ~1hz with ~100hz sensor | |||
10 |
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1 | b.configureLowpass(1, 0.01f); | |
11 | ||||
12 |
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10001 | for (size_t i = 0; i < 10000; i++) { |
13 |
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10000 | filtered = b.filter(25.0); | |
14 | } | |||
15 | ||||
16 | // very close, but never actually reaches | |||
17 |
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1 | EXPECT_NEAR(filtered, 25.0, 0.1); | |
18 | 2 | } | ||
19 |