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Cascaded notch filters.

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This commit is contained in:
Kenneth Mitchell 2018-10-27 09:16:55 -04:00
parent 3736a2486d
commit 011eae93c6
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GPG key ID: E27133AAF586AB21
10 changed files with 128 additions and 133 deletions
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25
src/main/sensors/gyro.h
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@ -43,15 +43,15 @@ typedef enum {
} gyroOverflowCheck_e;
enum {
DYN_FFT_BEFORE_STATIC_FILTERS = 0,
DYN_FFT_AFTER_STATIC_FILTERS
DYN_NOTCH_RANGE_HIGH = 0,
DYN_NOTCH_RANGE_MEDIUM,
DYN_NOTCH_RANGE_LOW,
DYN_NOTCH_RANGE_AUTO
} ;
enum {
DYN_FILTER_RANGE_HIGH = 0,
DYN_FILTER_RANGE_MEDIUM,
DYN_FILTER_RANGE_LOW
} ;
#define DYN_NOTCH_RANGE_HZ_HIGH 2000
#define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
#define DYN_NOTCH_RANGE_HZ_LOW 1000
enum {
DYN_LPF_NONE = 0,
@ -96,13 +96,13 @@ typedef struct gyroConfig_s {
uint8_t yaw_spin_recovery;
int16_t yaw_spin_threshold;
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
uint8_t dyn_filter_width_percent;
uint8_t dyn_fft_location; // before or after static filters
uint8_t dyn_filter_range; // ignore any FFT bin below this threshold
uint8_t dyn_notch_range; // ignore any FFT bin below this threshold
uint16_t dyn_lpf_gyro_max_hz;
uint8_t dyn_lpf_gyro_idle;
uint8_t dyn_notch_width_percent;
uint16_t dyn_notch_q;
uint16_t dyn_notch_min_hz;
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);
@ -126,5 +126,6 @@ bool gyroYawSpinDetected(void);
uint16_t gyroAbsRateDps(int axis);
uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
#ifdef USE_DYN_LPF
float dynThrottle(float throttle);
void dynLpfGyroUpdate(float throttle);
#endif