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Merge branch 'borisbstyle-rcFilter'

This commit is contained in:
Dominic Clifton 2015-09-29 10:45:54 +01:00
parent 2c701bd58f 36a3ee4e59
commit 5c6559dd5e
6 changed files with 62 additions and 1 deletions
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1
docs/Cli.md
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@ -111,6 +111,7 @@ Re-apply any new defaults as desired.
| `rssi_scale` | | 1 | 255 | 30 | Master | UINT8 |
| `rssi_ppm_invert` | | 0 | 1 | 0 | Master | UINT8 |
| `input_filtering_mode` | | 0 | 1 | 0 | Master | INT8 |
| `rc_smoothing ` | Interpolation of Rc data during looptimes when there are no new updates. This gives smoother RC input to PID controller and cleaner PIDsum | 0 | 1 | 1 | Master | INT8 |
| `min_throttle` | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. | 0 | 2000 | 1150 | Master | UINT16 |
| `max_throttle` | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. | 0 | 2000 | 1850 | Master | UINT16 |
| `min_command` | This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once. | 0 | 2000 | 1000 | Master | UINT16 |

1
src/main/config/config.c
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@ -420,6 +420,7 @@ static void resetConf(void)
masterConfig.rxConfig.rssi_channel = 0;
masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
masterConfig.rxConfig.rssi_ppm_invert = 0;
masterConfig.rxConfig.rcSmoothing = 1;
resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);

1
src/main/io/serial_cli.c
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@ -325,6 +325,7 @@ const clivalue_t valueTable[] = {
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, RSSI_SCALE_MIN, RSSI_SCALE_MAX },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_ppm_invert, 0, 1 },
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rcSmoothing, 0, 1 },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE, &masterConfig.inputFilteringMode, 0, 1 },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },

42
src/main/mw.c
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@ -107,6 +107,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
static bool isRXDataNew;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -684,6 +686,41 @@ void processRx(void)
}
void filterRc(void){
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
static filterStatePt1_t filteredCycleTimeState;
uint16_t rxRefreshRate, filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcData[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcData[channel];
}
isRXDataNew = false;
factor = rcInterpolationFactor - 1;
} else {
factor--;
}
// Interpolate steps of rcData
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
}
}
void loop(void)
{
static uint32_t loopTime;
@ -695,6 +732,7 @@ void loop(void)
if (shouldProcessRx(currentTime)) {
processRx();
isRXDataNew = true;
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
@ -749,6 +787,10 @@ void loop(void)
}
}
if (masterConfig.rxConfig.rcSmoothing) {
filterRc();
}
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;

15
src/main/rx/rx.c
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@ -79,7 +79,7 @@ static uint8_t skipRxSamples = 0;
int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define PPM_AND_PWM_SAMPLE_COUNT 4
#define PPM_AND_PWM_SAMPLE_COUNT 3
#define DELAY_50_HZ (1000000 / 50)
#define DELAY_10_HZ (1000000 / 10)
@ -99,6 +99,7 @@ static uint16_t nullReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channe
}
static rcReadRawDataPtr rcReadRawFunc = nullReadRawRC;
static uint16_t rxRefreshRate;
void serialRxInit(rxConfig_t *rxConfig);
@ -168,6 +169,7 @@ void rxInit(rxConfig_t *rxConfig)
}
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxRefreshRate = 20000;
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
@ -180,20 +182,28 @@ void serialRxInit(rxConfig_t *rxConfig)
bool enabled = false;
switch (rxConfig->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
rxRefreshRate = 22000;
enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SPEKTRUM2048:
rxRefreshRate = 11000;
enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SBUS:
rxRefreshRate = 11000;
enabled = sbusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SUMD:
rxRefreshRate = 11000;
enabled = sumdInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SUMH:
rxRefreshRate = 11000;
enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_XBUS_MODE_B:
case SERIALRX_XBUS_MODE_B_RJ01:
rxRefreshRate = 11000;
enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
}
@ -567,4 +577,7 @@ void updateRSSI(uint32_t currentTime)
}
}
void initRxRefreshRate(uint16_t *rxRefreshRatePtr) {
*rxRefreshRatePtr = rxRefreshRate;
}

3
src/main/rx/rx.h
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@ -114,6 +114,7 @@ typedef struct rxConfig_s {
uint8_t rssi_channel;
uint8_t rssi_scale;
uint8_t rssi_ppm_invert;
uint8_t rcSmoothing; // Enable/Disable RC filtering
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
@ -152,3 +153,5 @@ void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChann
void suspendRxSignal(void);
void resumeRxSignal(void);
void initRxRefreshRate(uint16_t *rxRefreshRatePtr);