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Code Issues Wiki Activity

Higher-order gyro filter (#5257)

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* Implement nth order Butterworth

Uses biquad sections

* Purge RC+FIR2

* Add butterworth LPS as gyro filter

Replaces RC+FIR

* Make FKF code conditional

* Add USE_FIR_FILTER_DENOISE

Denoise is almost useless anyway ...
This commit is contained in:
Petr Ledvina 2018-03-14 13:45:20 +01:00 • committed by Michael Keller
parent 35f5e5025f
commit 141d6ec30a
8 changed files with 129 additions and 43 deletions
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6
src/main/interface/settings.c
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@ -380,8 +380,10 @@ const clivalue_t valueTable[] = {
{ "gyro_filter_q", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_q) },
{ "gyro_filter_r", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_r) },
{ "gyro_filter_p", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_filter_p) },
#elif defined(USE_GYRO_BIQUAD_RC_FIR2)
{ "gyro_stage2_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf_hz_2) },
#endif
#if defined(USE_GYRO_LPF2)
{ "gyro_stage2_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf2_hz) },
{ "gyro_stage2_lowpass_order", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, GYRO_LPF2_ORDER_MAX}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_lpf2_order) },
#endif
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_offset_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -1000, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_offset_yaw) },