Tested the High Pass Filter and included it in Cerb makefile with no …

…build errors
Northeastern-Electric-Racing · Jan 26, 2025 · d29b50c · d29b50c
1 parent ba74657
commit d29b50c
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/middleware/include/high_pass.h b/middleware/include/high_pass.h
@@ -9,6 +9,7 @@ typedef struct {
 	float scale;
 
 	float prev_output;
+	float prev_input;
 
 } high_pass_t;
 

diff --git a/middleware/src/high_pass.c b/middleware/src/high_pass.c
@@ -6,16 +6,17 @@ void high_pass_init(float alpha, float scale, high_pass_t *filter)
 	filter->scale = scale;
 
 	filter->prev_output = 0.0;
+	filter->prev_input = 0.0;
 }
 
 float high_pass(high_pass_t *filter, float input)
 {
 	float output =
-		filter->scale(input - (filter->alpha * input +
-				       (1 - filter->alpha) * prev_output));
+		filter->scale * (filter->alpha * (input - filter->prev_input) +
+				 (1 - filter->alpha) * filter->prev_output);
 
-	filter->prev_output =
-		filter->alpha * input + (1 - filter->alpha) * prev_output;
+	filter->prev_input = input;
+	filter->prev_output = output;
 
 	return output;
 }