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Merge pull request #7085 from etracer65/rc_smoothing_auto_factor 

RC Smoothing: allow the user to adjust the "smoothness" of the auto cutoff calc
This commit is contained in:
Michael Keller 2018-11-15 07:07:23 +13:00 committed by GitHub
parent fd35d871d6 47b29a4d45
commit f0f98c920c
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 6 additions and 1 deletions
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1
src/main/blackbox/blackbox.c
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@ -1333,6 +1333,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rxConfig()->rc_smoothing_debug_axis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rxConfig()->rc_smoothing_input_cutoff,
rxConfig()->rc_smoothing_derivative_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d", rxConfig()->rc_smoothing_auto_factor);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rxConfig()->rc_smoothing_input_type,
rxConfig()->rc_smoothing_derivative_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE),

3
src/main/fc/rc.c
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@ -288,8 +288,9 @@ FAST_CODE uint8_t processRcInterpolation(void)
FAST_CODE_NOINLINE int calcRcSmoothingCutoff(int avgRxFrameTimeUs, bool pt1)
{
if (avgRxFrameTimeUs > 0) {
const float cutoffFactor = (100 - rxConfig()->rc_smoothing_auto_factor) / 100.0f;
float cutoff = (1 / (avgRxFrameTimeUs * 1e-6f)) / 2; // calculate the nyquist frequency
cutoff = cutoff * 0.90f; // Use 90% of the calculated nyquist frequency
cutoff = cutoff * cutoffFactor;
if (pt1) {
cutoff = sq(cutoff) / RC_SMOOTHING_IDENTITY_FREQUENCY; // convert to a cutoff for pt1 that has similar characteristics

1
src/main/interface/settings.c
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@ -631,6 +631,7 @@ const clivalue_t valueTable[] = {
{ "rc_smoothing_debug_axis", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DEBUG }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_debug_axis) },
{ "rc_smoothing_input_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_INPUT_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_input_type) },
{ "rc_smoothing_derivative_type",VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_SMOOTHING_DERIVATIVE_TYPE }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_derivative_type) },
{ "rc_smoothing_auto_smoothness",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rc_smoothing_auto_factor) },
#endif // USE_RC_SMOOTHING_FILTER
{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 90 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },

1
src/main/pg/rx.c
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@ -67,6 +67,7 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
.rc_smoothing_debug_axis = ROLL, // default to debug logging for the roll axis
.rc_smoothing_input_type = RC_SMOOTHING_INPUT_BIQUAD,
.rc_smoothing_derivative_type = RC_SMOOTHING_DERIVATIVE_BIQUAD,
.rc_smoothing_auto_factor = 10,
);
#ifdef RX_CHANNELS_TAER

1
src/main/pg/rx.h
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@ -56,6 +56,7 @@ typedef struct rxConfig_s {
uint8_t rc_smoothing_debug_axis; // Axis to log as debug values when debug_mode = RC_SMOOTHING
uint8_t rc_smoothing_input_type; // Input filter type (0 = PT1, 1 = BIQUAD)
uint8_t rc_smoothing_derivative_type; // Derivative filter type (0 = OFF, 1 = PT1, 2 = BIQUAD)
uint8_t rc_smoothing_auto_factor; // Used to adjust the "smoothness" determined by the auto cutoff calculations
} rxConfig_t;
PG_DECLARE(rxConfig_t, rxConfig);