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Merge pull request #6067 from etracer65/rc_smoohting_crsf_init

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RC smoothing - add rx frame training delay to deal with CRSF initialization
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Michael Keller 2018-06-09 21:40:37 +12:00 • committed by GitHub
commit 0210be305a
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1 changed files with 43 additions and 33 deletions
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76
src/main/fc/fc_rc.c
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@ -70,7 +70,8 @@ enum {
#ifdef USE_RC_SMOOTHING_FILTER #ifdef USE_RC_SMOOTHING_FILTER
#define RC_SMOOTHING_IDENTITY_FREQUENCY 80 // Used in the formula to convert a BIQUAD cutoff frequency to PT1 #define RC_SMOOTHING_IDENTITY_FREQUENCY 80 // Used in the formula to convert a BIQUAD cutoff frequency to PT1
#define RC_SMOOTHING_FILTER_TRAINING_DELAY_MS 5000 // Wait 5 seconds after power to let the PID loop stabilize before starting average frame rate calculation #define RC_SMOOTHING_FILTER_STARTUP_DELAY_MS 5000 // Time to wait after power to let the PID loop stabilize before starting average frame rate calculation
#define RC_SMOOTHING_FILTER_TRAINING_DELAY_MS 1000 // Additional time to wait after receiving first valid rx frame before training starts
#define RC_SMOOTHING_FILTER_TRAINING_SAMPLES 50 #define RC_SMOOTHING_FILTER_TRAINING_SAMPLES 50
static FAST_RAM_ZERO_INIT uint16_t defaultInputCutoffFrequency; static FAST_RAM_ZERO_INIT uint16_t defaultInputCutoffFrequency;
@ -290,6 +291,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
static FAST_RAM_ZERO_INIT int rxFrameCount; static FAST_RAM_ZERO_INIT int rxFrameCount;
static FAST_RAM uint16_t minRxFrameInterval = UINT16_MAX; static FAST_RAM uint16_t minRxFrameInterval = UINT16_MAX;
static FAST_RAM_ZERO_INIT uint16_t maxRxFrameInterval; static FAST_RAM_ZERO_INIT uint16_t maxRxFrameInterval;
static FAST_RAM_ZERO_INIT timeMs_t validRxFrameTimeMs;
if (!initialized) { if (!initialized) {
initialized = true; initialized = true;
@ -306,48 +308,56 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
// If the filter cutoffs are set to auto and we have good rx data, then determine the average rx frame rate // If the filter cutoffs are set to auto and we have good rx data, then determine the average rx frame rate
// and use that to calculate the filter cutoff frequencies // and use that to calculate the filter cutoff frequencies
if (!filterInitialized) { if (!filterInitialized) {
if (rxIsReceivingSignal() && (targetPidLooptime > 0) && (millis() > RC_SMOOTHING_FILTER_TRAINING_DELAY_MS)) { const timeMs_t currentTimeMs = millis();
rxFrameTimeSum += currentRxRefreshRate; if (rxIsReceivingSignal() && (targetPidLooptime > 0) && (currentTimeMs > RC_SMOOTHING_FILTER_STARTUP_DELAY_MS)) {
rxFrameCount++; if (validRxFrameTimeMs == 0) {
maxRxFrameInterval = MAX(maxRxFrameInterval, currentRxRefreshRate); validRxFrameTimeMs = currentTimeMs;
minRxFrameInterval = MIN(minRxFrameInterval, currentRxRefreshRate); } else if ((currentTimeMs - validRxFrameTimeMs) > RC_SMOOTHING_FILTER_TRAINING_DELAY_MS) {
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, rxFrameCount); // log the step count during training rxFrameTimeSum += currentRxRefreshRate;
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, currentRxRefreshRate); // log each frame interval during training rxFrameCount++;
if (rxFrameCount >= RC_SMOOTHING_FILTER_TRAINING_SAMPLES) { maxRxFrameInterval = MAX(maxRxFrameInterval, currentRxRefreshRate);
rxFrameTimeSum = rxFrameTimeSum - minRxFrameInterval - maxRxFrameInterval; // Throw out high and low samples minRxFrameInterval = MIN(minRxFrameInterval, currentRxRefreshRate);
calculatedFrameTimeAverageUs = lrintf(rxFrameTimeSum / (rxFrameCount - 2)); DEBUG_SET(DEBUG_RC_SMOOTHING, 0, rxFrameCount); // log the step count during training
const float avgRxFrameTime = (rxFrameTimeSum / (rxFrameCount - 2)) * 1e-6f; DEBUG_SET(DEBUG_RC_SMOOTHING, 3, currentRxRefreshRate); // log each frame interval during training
if (rxFrameCount >= RC_SMOOTHING_FILTER_TRAINING_SAMPLES) {
rxFrameTimeSum = rxFrameTimeSum - minRxFrameInterval - maxRxFrameInterval; // Throw out high and low samples
calculatedFrameTimeAverageUs = lrintf(rxFrameTimeSum / (rxFrameCount - 2));
const float avgRxFrameTime = (rxFrameTimeSum / (rxFrameCount - 2)) * 1e-6f;
defaultInputCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1)); defaultInputCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1));
filterCutoffFrequency = (filterCutoffFrequency == 0) ? defaultInputCutoffFrequency : filterCutoffFrequency; filterCutoffFrequency = (filterCutoffFrequency == 0) ? defaultInputCutoffFrequency : filterCutoffFrequency;
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) { if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
derivativeCutoffFrequency = 0; derivativeCutoffFrequency = 0;
} else { } else {
defaultDerivativeCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1)); defaultDerivativeCutoffFrequency = calcRcSmoothingCutoff(avgRxFrameTime, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1));
derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency; derivativeCutoffFrequency = (derivativeCutoffFrequency == 0) ? defaultDerivativeCutoffFrequency : derivativeCutoffFrequency;
} }
const float dT = targetPidLooptime * 1e-6f; const float dT = targetPidLooptime * 1e-6f;
for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) { for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) { if ((1 << i) & interpolationChannels) {
switch (rxConfig()->rc_smoothing_input_type) { switch (rxConfig()->rc_smoothing_input_type) {
case RC_SMOOTHING_INPUT_PT1: case RC_SMOOTHING_INPUT_PT1:
pt1FilterInit(&rcCommandFilterPt1[i], pt1FilterGain(filterCutoffFrequency, dT)); pt1FilterInit(&rcCommandFilterPt1[i], pt1FilterGain(filterCutoffFrequency, dT));
break; break;
case RC_SMOOTHING_INPUT_BIQUAD: case RC_SMOOTHING_INPUT_BIQUAD:
default: default:
biquadFilterInitLPF(&rcCommandFilterBiquad[i], filterCutoffFrequency, targetPidLooptime); biquadFilterInitLPF(&rcCommandFilterBiquad[i], filterCutoffFrequency, targetPidLooptime);
break; break;
}
} }
} }
pidInitSetpointDerivativeLpf(derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
filterInitialized = true;
} }
pidInitSetpointDerivativeLpf(derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
filterInitialized = true;
} }
} else { } else {
rxFrameTimeSum = 0; rxFrameTimeSum = 0;
rxFrameCount = 0; rxFrameCount = 0;
validRxFrameTimeMs = 0;
minRxFrameInterval = UINT16_MAX;
maxRxFrameInterval = 0;
} }
} }
} }