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Merge pull request #6059 from fujin/fix-debug-mode-names 

gyro sensors/debug: standardize gyro debugging enum elements
This commit is contained in:
Michael Keller 2018-06-09 19:26:38 +12:00 committed by GitHub
parent f8a86d6392 b1069027c3
commit d3673f11ee
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 20 additions and 22 deletions
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4
src/main/build/debug.c
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@ -34,10 +34,10 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"NONE",
"CYCLETIME",
"BATTERY",
"GYRO",
"GYRO_FILTERED",
"ACCELEROMETER",
"PIDLOOP",
"NOTCH",
"GYRO_SCALED",
"RC_INTERPOLATION",
"ANGLERATE",
"ESC_SENSOR",

4
src/main/build/debug.h
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@ -52,10 +52,10 @@ typedef enum {
DEBUG_NONE,
DEBUG_CYCLETIME,
DEBUG_BATTERY,
DEBUG_GYRO,
DEBUG_GYRO_FILTERED,
DEBUG_ACCELEROMETER,
DEBUG_PIDLOOP,
DEBUG_GYRO_NOTCH,
DEBUG_GYRO_SCALED,
DEBUG_RC_INTERPOLATION,
DEBUG_ANGLERATE,
DEBUG_ESC_SENSOR,

34
src/main/sensors/gyro.c
View File

@ -520,9 +520,9 @@ bool gyroInit(void)
switch (debugMode) {
case DEBUG_FFT:
case DEBUG_GYRO_NOTCH:
case DEBUG_GYRO:
case DEBUG_GYRO_RAW:
case DEBUG_GYRO_SCALED:
case DEBUG_GYRO_FILTERED:
gyroDebugMode = debugMode;
break;
default:
@ -864,8 +864,11 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
DEBUG_SET(DEBUG_GYRO, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
// DEBUG_GYRO_CALIBRATION records the standard deviation of roll
// into the spare field - debug[3], in DEBUG_GYRO_RAW
if (axis == X) {
DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
}
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {
@ -1054,14 +1057,13 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
// NOTE: this branch optimized for when there is no gyro debugging, ensure it is kept in step with non-optimized branch
float gyroADCf = gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
#ifdef USE_GYRO_DATA_ANALYSE
gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf);
#endif
gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
gyroSensor->gyroDev.gyroADCf[axis] = gyroADCf;
if (!gyroSensor->overflowDetected) {
@ -1075,32 +1077,28 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
DEBUG_SET(DEBUG_GYRO_RAW, axis, gyroSensor->gyroDev.gyroADCRaw[axis]);
// scale gyro output to degrees per second
float gyroADCf = gyroSensor->gyroDev.gyroADC[axis] * gyroSensor->gyroDev.scale;
// DEBUG_GYRO_NOTCH records the unfiltered gyro output
DEBUG_SET(DEBUG_GYRO_NOTCH, axis, lrintf(gyroADCf));
// apply lowpass2 filter
gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
// DEBUG_GYRO_SCALED records the unfiltered, scaled gyro output
DEBUG_SET(DEBUG_GYRO_SCALED, axis, lrintf(gyroADCf));
#ifdef USE_GYRO_DATA_ANALYSE
// apply dynamic notch filter
if (isDynamicFilterActive()) {
if (axis == 0) {
if (axis == X) {
DEBUG_SET(DEBUG_FFT, 0, lrintf(gyroADCf)); // store raw data
}
gyroADCf = gyroSensor->notchFilterDynApplyFn((filter_t *)&gyroSensor->notchFilterDyn[axis], gyroADCf);
if (axis == 0) {
if (axis == X) {
DEBUG_SET(DEBUG_FFT, 1, lrintf(gyroADCf)); // store data after dynamic notch
}
}
#endif
// apply static notch filters
// apply static notch filters and software lowpass filters
gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
// apply lowpass2 filter
DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
// DEBUG_GYRO_FILTERED records the scaled, filtered, after all software filtering has been applied.
DEBUG_SET(DEBUG_GYRO_FILTERED, axis, lrintf(gyroADCf));
gyroSensor->gyroDev.gyroADCf[axis] = gyroADCf;
if (!gyroSensor->overflowDetected) {