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Extend gyro filter implementation debugging for pitch and yaw axis. 

* Introduce CLI parameter gyro_filter_debug_axis which defaults to 'ROLL',
  the previous behavior. When set to either PITCH, or YAW, the debug logging
  implementation in the gyro filtering will use that axis instead.
This commit is contained in:
AJ Christensen 2019-01-19 11:01:46 +13:00
parent 8e2cba97da
commit 5bcf35c7af
5 changed files with 14 additions and 2 deletions
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7
src/main/interface/settings.c
View File

@ -453,6 +453,10 @@ const char * const lookupTableLEDRaceColors[COLOR_COUNT] = {
"DEEP_PINK"
};
static const char * const lookupTableGyroFilterDebug[] = {
"ROLL", "PITCH", "YAW"
};
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
@ -565,6 +569,8 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableLEDProfile),
LOOKUP_TABLE_ENTRY(lookupTableLEDRaceColors),
#endif
LOOKUP_TABLE_ENTRY(lookupTableGyroFilterDebug),
};
#undef LOOKUP_TABLE_ENTRY
@ -621,6 +627,7 @@ const clivalue_t valueTable[] = {
{ "dyn_lpf_dterm_min_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_min_hz) },
{ "dyn_lpf_dterm_max_hz", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_lpf_dterm_max_hz) },
#endif
{ "gyro_filter_debug_axis", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO_FILTER_DEBUG }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_debug_axis) },
// PG_ACCELEROMETER_CONFIG
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },

1
src/main/interface/settings.h
View File

@ -135,6 +135,7 @@ typedef enum {
TABLE_LED_PROFILE,
TABLE_LED_RACE_COLOR,
#endif
TABLE_GYRO_FILTER_DEBUG,
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;

3
src/main/sensors/gyro.c
View File

@ -159,6 +159,7 @@ typedef struct gyroSensor_s {
gyroAnalyseState_t gyroAnalyseState;
#endif
flight_dynamics_index_t gyroDebugAxis;
} gyroSensor_t;
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor1;
@ -228,6 +229,7 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass2_hz = 0;
#endif
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
}
#ifdef USE_MULTI_GYRO
@ -414,6 +416,7 @@ static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
gyroSensor->gyroDebugAxis = gyroConfig()->gyro_filter_debug_axis;
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
gyroSensor->gyroDev.gyroAlign = config->align;
gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;

1
src/main/sensors/gyro.h
View File

@ -104,6 +104,7 @@ typedef struct gyroConfig_s {
uint8_t dyn_notch_width_percent;
uint16_t dyn_notch_q;
uint16_t dyn_notch_min_hz;
uint8_t gyro_filter_debug_axis;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);

4
src/main/sensors/gyro_filter_impl.h
View File

@ -9,7 +9,7 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor)
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
if (axis == X) {
if (axis == gyroSensor->gyroDebugAxis) {
GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf));
GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 3, lrintf(gyroADCf));
GYRO_FILTER_DEBUG_SET(DEBUG_DYN_LPF, 0, lrintf(gyroADCf));
@ -30,7 +30,7 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor)
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
if (axis == X) {
if (axis == gyroSensor->gyroDebugAxis) {
GYRO_FILTER_DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf));
GYRO_FILTER_DEBUG_SET(DEBUG_FFT_FREQ, 2, lrintf(gyroADCf));
GYRO_FILTER_DEBUG_SET(DEBUG_DYN_LPF, 3, lrintf(gyroADCf));