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Merge pull request #684 from rav-rav/notch 

Smoother filtering (additional notch filter)
This commit is contained in:
borisbstyle 2016-07-16 10:30:47 +02:00 committed by GitHub
parent c21fcaf2b4 86626acbdf
commit 4fff6c89bf
12 changed files with 71 additions and 24 deletions
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2
src/main/blackbox/blackbox.c
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@ -1219,6 +1219,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d", (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_q:%d", (int)(masterConfig.gyro_soft_notch_q * 10.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);

39
src/main/common/filter.c
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@ -56,24 +56,39 @@ float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
}
/* sets up a biquad Filter */
void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate)
void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate)
{
biquadFilterInit(filter, filterFreq, refreshRate, BIQUAD_Q, FILTER_LPF);
}
void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType)
{
const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
// setup variables
const float omega = 2 * M_PI_FLOAT * filterCutFreq / sampleRate;
const float sampleRate = 1 / ((float)refreshRate * 0.000001f);
const float omega = 2 * M_PI_FLOAT * filterFreq / sampleRate;
const float sn = sinf(omega);
const float cs = cosf(omega);
//this is wrong, should be hyperbolic sine
//alpha = sn * sinf(M_LN2_FLOAT /2 * BIQUAD_BANDWIDTH * omega /sn);
const float alpha = sn / (2 * BIQUAD_Q);
const float b0 = (1 - cs) / 2;
const float b1 = 1 - cs;
const float b2 = (1 - cs) / 2;
const float a0 = 1 + alpha;
const float a1 = -2 * cs;
const float a2 = 1 - alpha;
float b0, b1, b2, a0, a1, a2;
switch (filterType) {
case FILTER_LPF:
b0 = (1 - cs) / 2;
b1 = 1 - cs;
b2 = (1 - cs) / 2;
a0 = 1 + alpha;
a1 = -2 * cs;
a2 = 1 - alpha;
break;
case FILTER_NOTCH:
b0 = 1;
b1 = -2 * cs;
b2 = 1;
a0 = 1 + alpha;
a1 = -2 * cs;
a2 = 1 - alpha;
break;
}
// precompute the coefficients
filter->b0 = b0 / a0;

7
src/main/common/filter.h
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@ -29,8 +29,13 @@ typedef struct biquadFilter_s {
float d1, d2;
} biquadFilter_t;
typedef enum {
FILTER_LPF,
FILTER_NOTCH
} filterType_e;
void biquadFilterInit(biquadFilter_t *filter, float filterCutFreq, uint32_t refreshRate);
void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate);
void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, filterType_e filterType);
float biquadFilterApply(biquadFilter_t *filter, float input);
void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);

4
src/main/config/config.c
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@ -456,6 +456,8 @@ static void resetConf(void)
masterConfig.gyro_sync_denom = 4;
#endif
masterConfig.gyro_soft_lpf_hz = 100;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_q = 5;
masterConfig.pid_process_denom = 2;
@ -717,7 +719,7 @@ void activateConfig(void)
&currentProfile->pidProfile
);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz);
gyroUseConfig(&masterConfig.gyroConfig, masterConfig.gyro_soft_lpf_hz, masterConfig.gyro_soft_notch_hz, masterConfig.gyro_soft_notch_q);
#ifdef TELEMETRY
telemetryUseConfig(&masterConfig.telemetryConfig);

6
src/main/config/config_master.h
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@ -56,9 +56,11 @@ typedef struct master_t {
int8_t yaw_control_direction; // change control direction of yaw (inverted, normal)
uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device
uint8_t acc_for_fast_looptime; // shorten acc processing time by using 1 out of 9 samples. For combination with fast looptimes.
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint16_t gyro_lpf; // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
uint8_t gyro_sync_denom; // Gyro sample divider
uint8_t gyro_soft_lpf_hz; // Biqyad gyro lpf hz
uint8_t gyro_soft_lpf_hz; // Biquad gyro lpf hz
uint16_t gyro_soft_notch_hz; // Biquad gyro notch hz
uint8_t gyro_soft_notch_q; // Biquad gyro notch quality
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000)

1
src/main/debug.h
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@ -50,5 +50,6 @@ typedef enum {
DEBUG_MIXER,
DEBUG_AIRMODE,
DEBUG_PIDLOOP,
DEBUG_NOTCH,
DEBUG_COUNT
} debugType_e;

2
src/main/flight/mixer.c
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@ -956,7 +956,7 @@ void filterServos(void)
if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
if (!servoFilterIsSet) {
biquadFilterInit(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
biquadFilterInitLPF(&servoFilter[servoIdx], mixerConfig->servo_lowpass_freq, targetPidLooptime);
servoFilterIsSet = true;
}

3
src/main/io/serial_cli.c
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@ -453,6 +453,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"MIXER",
"AIRMODE",
"PIDLOOP",
"NOTCH",
};
#ifdef OSD
static const char * const lookupTableOsdType[] = {
@ -698,6 +699,8 @@ const clivalue_t valueTable[] = {
{ "gyro_lpf", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyro_lpf, .config.lookup = { TABLE_GYRO_LPF } },
{ "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_sync_denom, .config.minmax = { 1, 8 } },
{ "gyro_lowpass", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_lpf_hz, .config.minmax = { 0, 255 } },
{ "gyro_notch_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_soft_notch_hz, .config.minmax = { 0, 500 } },
{ "gyro_notch_q", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyro_soft_notch_q, .config.minmax = { 1, 100 } },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroConfig.gyroMovementCalibrationThreshold, .config.minmax = { 0, 128 } },
{ "imu_dcm_kp", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_kp, .config.minmax = { 0, 50000 } },
{ "imu_dcm_ki", VAR_UINT16 | MASTER_VALUE, &masterConfig.dcm_ki, .config.minmax = { 0, 50000 } },

2
src/main/sensors/acceleration.c
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@ -190,7 +190,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
if (!accFilterInitialised) {
if (accTargetLooptime) { /* Initialisation needs to happen once sample rate is known */
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&accFilter[axis], accLpfCutHz, accTargetLooptime);
biquadFilterInitLPF(&accFilter[axis], accLpfCutHz, accTargetLooptime);
}
accFilterInitialised = true;
}

2
src/main/sensors/battery.c
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@ -70,7 +70,7 @@ static void updateBatteryVoltage(void)
if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
if (!vbatFilterIsInitialised) {
biquadFilterInit(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
vbatFilterIsInitialised = true;
}
vbatSample = biquadFilterApply(&vbatFilter, vbatSample);

25
src/main/sensors/gyro.c
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@ -27,6 +27,7 @@
#include "common/filter.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/accgyro.h"
#include "io/beeper.h"
@ -44,21 +45,27 @@ float gyroADCf[XYZ_AXIS_COUNT];
static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
static const gyroConfig_t *gyroConfig;
static biquadFilter_t gyroFilter[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
static biquadFilter_t gyroFilterNotch[XYZ_AXIS_COUNT];
static uint16_t gyroSoftNotchHz;
static uint8_t gyroSoftNotchQ;
static uint8_t gyroSoftLpfHz;
static uint16_t calibratingG = 0;
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz)
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q)
{
gyroConfig = gyroConfigToUse;
gyroSoftLpfHz = gyro_soft_lpf_hz;
gyroSoftNotchHz = gyro_soft_notch_hz;
gyroSoftNotchQ = gyro_soft_notch_q;
}
void gyroInit(void)
{
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroFilter[axis], gyroSoftLpfHz, gyro.targetLooptime);
biquadFilterInit(&gyroFilterNotch[axis], gyroSoftNotchHz, gyro.targetLooptime, ((float) gyroSoftNotchQ) / 10, FILTER_NOTCH);
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
}
}
}
@ -158,7 +165,17 @@ void gyroUpdate(void)
if (gyroSoftLpfHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADCf[axis] = biquadFilterApply(&gyroFilter[axis], (float)gyroADC[axis]);
float sample = (float) gyroADC[axis];
if (gyroSoftNotchHz) {
sample = biquadFilterApply(&gyroFilterNotch[axis], sample);
}
if (debugMode == DEBUG_NOTCH && axis < 2){
debug[axis*2 + 0] = gyroADC[axis];
debug[axis*2 + 1] = lrintf(sample);
}
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], sample);;
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {

2
src/main/sensors/gyro.h
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@ -40,7 +40,7 @@ typedef struct gyroConfig_s {
uint8_t gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
} gyroConfig_t;
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_lpf_hz);
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz, uint16_t gyro_soft_notch_hz, uint8_t gyro_soft_notch_q);
void gyroSetCalibrationCycles(void);
void gyroInit(void);
void gyroUpdate(void);