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Merge pull request #6067 from etracer65/rc_smoohting_crsf_init 

RC smoothing - add rx frame training delay to deal with CRSF initialization
This commit is contained in:
Michael Keller 2018-06-09 21:40:37 +12:00 committed by GitHub
parent caa7876843 95ae4943df
commit 0210be305a
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 43 additions and 33 deletions
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76
src/main/fc/fc_rc.c
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@ -70,7 +70,8 @@ enum {
#ifdef USE_RC_SMOOTHING_FILTER
#define RC_SMOOTHING_IDENTITY_FREQUENCY 80 // Used in the formula to convert a BIQUAD cutoff frequency to PT1
#define RC_SMOOTHING_FILTER_TRAINING_DELAY_MS 5000 // Wait 5 seconds after power to let the PID loop stabilize before starting average frame rate calculation
#define RC_SMOOTHING_FILTER_STARTUP_DELAY_MS 5000 // Time to wait after power to let the PID loop stabilize before starting average frame rate calculation
#define RC_SMOOTHING_FILTER_TRAINING_DELAY_MS 1000 // Additional time to wait after receiving first valid rx frame before training starts
#define RC_SMOOTHING_FILTER_TRAINING_SAMPLES 50
static FAST_RAM_ZERO_INIT uint16_t defaultInputCutoffFrequency;
@ -290,6 +291,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
static FAST_RAM_ZERO_INIT int rxFrameCount;
static FAST_RAM uint16_t minRxFrameInterval = UINT16_MAX;
static FAST_RAM_ZERO_INIT uint16_t maxRxFrameInterval;
static FAST_RAM_ZERO_INIT timeMs_t validRxFrameTimeMs;
if (!initialized) {
initialized = true;
@ -306,48 +308,56 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
// If the filter cutoffs are set to auto and we have good rx data, then determine the average rx frame rate
// and use that to calculate the filter cutoff frequencies
if (!filterInitialized) {
if (rxIsReceivingSignal() && (targetPidLooptime > 0) && (millis() > RC_SMOOTHING_FILTER_TRAINING_DELAY_MS)) {
rxFrameTimeSum += currentRxRefreshRate;
rxFrameCount++;
maxRxFrameInterval = MAX(maxRxFrameInterval, currentRxRefreshRate);
minRxFrameInterval = MIN(minRxFrameInterval, currentRxRefreshRate);
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, rxFrameCount); // log the step count during training
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, currentRxRefreshRate); // log each frame interval during training
if (rxFrameCount >= RC_SMOOTHING_FILTER_TRAINING_SAMPLES) {
rxFrameTimeSum = rxFrameTimeSum - minRxFrameInterval - maxRxFrameInterval; // Throw out high and low samples
calculatedFrameTimeAverageUs = lrintf(rxFrameTimeSum / (rxFrameCount - 2));
const float avgRxFrameTime = (rxFrameTimeSum / (rxFrameCount - 2)) * 1e-6f;
const timeMs_t currentTimeMs = millis();
if (rxIsReceivingSignal() && (targetPidLooptime > 0) && (currentTimeMs > RC_SMOOTHING_FILTER_STARTUP_DELAY_MS)) {
if (validRxFrameTimeMs == 0) {
validRxFrameTimeMs = currentTimeMs;
} else if ((currentTimeMs - validRxFrameTimeMs) > RC_SMOOTHING_FILTER_TRAINING_DELAY_MS) {
rxFrameTimeSum += currentRxRefreshRate;
rxFrameCount++;
maxRxFrameInterval = MAX(maxRxFrameInterval, currentRxRefreshRate);
minRxFrameInterval = MIN(minRxFrameInterval, currentRxRefreshRate);
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, rxFrameCount); // log the step count during training
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, currentRxRefreshRate); // log each frame interval during training
if (rxFrameCount >= RC_SMOOTHING_FILTER_TRAINING_SAMPLES) {
rxFrameTimeSum = rxFrameTimeSum - minRxFrameInterval - maxRxFrameInterval; // Throw out high and low samples
calculatedFrameTimeAverageUs = lrintf(rxFrameTimeSum / (rxFrameCount - 2));
const float avgRxFrameTime = (rxFrameTimeSum / (rxFrameCount - 2)) * 1e-6f;
defaultInputCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1));
filterCutoffFrequency = (filterCutoffFrequency == 0) ? defaultInputCutoffFrequency : filterCutoffFrequency;
defaultInputCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1));
filterCutoffFrequency = (filterCutoffFrequency == 0) ? defaultInputCutoffFrequency : filterCutoffFrequency;
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
derivativeCutoffFrequency = 0;
} else {
defaultDerivativeCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1));
derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency;
}
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
derivativeCutoffFrequency = 0;
} else {
defaultDerivativeCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1));
derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency;
}
const float dT = targetPidLooptime * 1e-6f;
for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_PT1:
pt1FilterInit(&rcCommandFilterPt1[i], pt1FilterGain(filterCutoffFrequency, dT));
break;
case RC_SMOOTHING_INPUT_BIQUAD:
default:
biquadFilterInitLPF(&rcCommandFilterBiquad[i], filterCutoffFrequency, targetPidLooptime);
break;
const float dT = targetPidLooptime * 1e-6f;
for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_PT1:
pt1FilterInit(&rcCommandFilterPt1[i], pt1FilterGain(filterCutoffFrequency, dT));
break;
case RC_SMOOTHING_INPUT_BIQUAD:
default:
biquadFilterInitLPF(&rcCommandFilterBiquad[i], filterCutoffFrequency, targetPidLooptime);
break;
}
}
}
pidInitSetpointDerivativeLpf(derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
filterInitialized = true;
}
pidInitSetpointDerivativeLpf(derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
filterInitialized = true;
}
} else {
rxFrameTimeSum = 0;
rxFrameCount = 0;
validRxFrameTimeMs = 0;
minRxFrameInterval = UINT16_MAX;
maxRxFrameInterval = 0;
}
}
}