diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 2cc8139411..04e29f80f7 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1422,7 +1422,7 @@ static bool blackboxWriteSysinfo(void) #ifdef USE_GYRO_DATA_ANALYSE BLACKBOX_PRINT_HEADER_LINE("dyn_notch_max_hz", "%d", gyroConfig()->dyn_notch_max_hz); BLACKBOX_PRINT_HEADER_LINE("dyn_notch_count", "%d", gyroConfig()->dyn_notch_count); - BLACKBOX_PRINT_HEADER_LINE("dyn_notch_bandwidth_hz", "%d", gyroConfig()->dyn_notch_bandwidth_hz); + BLACKBOX_PRINT_HEADER_LINE("dyn_notch_q", "%d", gyroConfig()->dyn_notch_q); BLACKBOX_PRINT_HEADER_LINE("dyn_notch_min_hz", "%d", gyroConfig()->dyn_notch_min_hz); #endif #ifdef USE_DSHOT_TELEMETRY diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c index dbeae62459..893f2f8d24 100644 --- a/src/main/cli/settings.c +++ b/src/main/cli/settings.c @@ -662,7 +662,7 @@ const clivalue_t valueTable[] = { #endif #if defined(USE_GYRO_DATA_ANALYSE) { "dyn_notch_count", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, DYN_NOTCH_COUNT_MAX }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_count) }, - { "dyn_notch_bandwidth_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_bandwidth_hz) }, + { "dyn_notch_q", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_q) }, { "dyn_notch_min_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 60, 250 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_min_hz) }, { "dyn_notch_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_max_hz) }, #endif diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index d12ee61918..c246566c7c 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -757,7 +757,7 @@ static CMS_Menu cmsx_menuFilterGlobal = { #ifdef USE_GYRO_DATA_ANALYSE static uint16_t dynFiltNotchMaxHz; static uint8_t dynFiltCount; -static uint16_t dynFiltBandwidthHz; +static uint16_t dynFiltNotchQ; static uint16_t dynFiltNotchMinHz; #endif #ifdef USE_DYN_LPF @@ -776,7 +776,7 @@ static const void *cmsx_menuDynFilt_onEnter(displayPort_t *pDisp) #ifdef USE_GYRO_DATA_ANALYSE dynFiltNotchMaxHz = gyroConfig()->dyn_notch_max_hz; dynFiltCount = gyroConfig()->dyn_notch_count; - dynFiltBandwidthHz = gyroConfig()->dyn_notch_bandwidth_hz; + dynFiltNotchQ = gyroConfig()->dyn_notch_q; dynFiltNotchMinHz = gyroConfig()->dyn_notch_min_hz; #endif #ifdef USE_DYN_LPF @@ -800,7 +800,7 @@ static const void *cmsx_menuDynFilt_onExit(displayPort_t *pDisp, const OSD_Entry #ifdef USE_GYRO_DATA_ANALYSE gyroConfigMutable()->dyn_notch_max_hz = dynFiltNotchMaxHz; gyroConfigMutable()->dyn_notch_count = dynFiltCount; - gyroConfigMutable()->dyn_notch_bandwidth_hz = dynFiltBandwidthHz; + gyroConfigMutable()->dyn_notch_q = dynFiltNotchQ; gyroConfigMutable()->dyn_notch_min_hz = dynFiltNotchMinHz; #endif #ifdef USE_DYN_LPF @@ -822,7 +822,7 @@ static const OSD_Entry cmsx_menuDynFiltEntries[] = #ifdef USE_GYRO_DATA_ANALYSE { "NOTCH COUNT", OME_UINT8, NULL, &(OSD_UINT8_t) { &dynFiltCount, 1, DYN_NOTCH_COUNT_MAX, 1 }, 0 }, - { "NOTCH WIDTH HZ", OME_UINT16, NULL, &(OSD_UINT16_t) { &dynFiltBandwidthHz, 1, 1000, 1 }, 0 }, + { "NOTCH Q", OME_UINT16, NULL, &(OSD_UINT16_t) { &dynFiltNotchQ, 1, 1000, 1 }, 0 }, { "NOTCH MIN HZ", OME_UINT16, NULL, &(OSD_UINT16_t) { &dynFiltNotchMinHz, 0, 1000, 1 }, 0 }, { "NOTCH MAX HZ", OME_UINT16, NULL, &(OSD_UINT16_t) { &dynFiltNotchMaxHz, 0, 1000, 1 }, 0 }, #endif diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c index c643f8de20..28cc59492d 100644 --- a/src/main/flight/gyroanalyse.c +++ b/src/main/flight/gyroanalyse.c @@ -111,17 +111,17 @@ static float FAST_DATA_ZERO_INIT sdftResolutionHz; static uint8_t FAST_DATA_ZERO_INIT sdftStartBin; static uint8_t FAST_DATA_ZERO_INIT sdftEndBin; static float FAST_DATA_ZERO_INIT sdftMeanSq; -static uint16_t FAST_DATA_ZERO_INIT dynNotchBandwidthHz; +static uint16_t FAST_DATA_ZERO_INIT dynNotchQ; static uint16_t FAST_DATA_ZERO_INIT dynNotchMinHz; static uint16_t FAST_DATA_ZERO_INIT dynNotchMaxHz; static uint16_t FAST_DATA_ZERO_INIT dynNotchMaxFFT; -static float FAST_DATA_ZERO_INIT smoothFactor; +static float FAST_DATA_ZERO_INIT gain; static uint8_t FAST_DATA_ZERO_INIT numSamples; void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs) { // initialise even if FEATURE_DYNAMIC_FILTER not set, since it may be set later - dynNotchBandwidthHz = gyroConfig()->dyn_notch_bandwidth_hz; + dynNotchQ = gyroConfig()->dyn_notch_q / 100.0f; dynNotchMinHz = gyroConfig()->dyn_notch_min_hz; dynNotchMaxHz = MAX(2 * dynNotchMinHz, gyroConfig()->dyn_notch_max_hz); @@ -140,7 +140,7 @@ void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs) sdftResolutionHz = (float)sdftSampleRateHz / SDFT_SAMPLE_SIZE; // 13.3hz per bin at 8k sdftStartBin = MAX(2, lrintf(dynNotchMinHz / sdftResolutionHz + 0.5f)); // can't use bin 0 because it is DC. sdftEndBin = MIN(SDFT_BIN_COUNT - 1, lrintf(dynNotchMaxHz / sdftResolutionHz + 0.5f)); // can't use more than SDFT_BIN_COUNT bins. - smoothFactor = pt1FilterGain(DYN_NOTCH_SMOOTH_HZ, DYN_NOTCH_CALC_TICKS / (float)targetLoopRateHz); // minimum PT1 k value + gain = pt1FilterGain(DYN_NOTCH_SMOOTH_HZ, DYN_NOTCH_CALC_TICKS / (float)targetLoopRateHz); // minimum PT1 k value for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { sdftInit(&sdft[axis], sdftStartBin, sdftEndBin, numSamples); @@ -283,45 +283,28 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state) // Only update state->centerFreq if there is a peak (ignore void peaks) and if peak is above noise floor if (peaks[p].bin != 0 && peaks[p].value > sdftMeanSq) { - // accumulate sdftSum and sdftWeightedSum from peak bin, and shoulder bins either side of peak - float squaredData = peaks[p].value; // peak data already squared (see sdftWinSq) - float sdftSum = squaredData; - float sdftWeightedSum = squaredData * peaks[p].bin; + float meanBin = peaks[p].bin; - // accumulate upper shoulder unless it would be sdftEndBin - uint8_t shoulderBin = peaks[p].bin + 1; - if (shoulderBin < sdftEndBin) { - squaredData = sdftData[shoulderBin]; // sdftData already squared (see sdftWinSq) - sdftSum += squaredData; - sdftWeightedSum += squaredData * shoulderBin; + // Height of peak bin (y1) and shoulder bins (y0, y2) + const float y0 = sdftData[peaks[p].bin - 1]; + const float y1 = sdftData[peaks[p].bin]; + const float y2 = sdftData[peaks[p].bin + 1]; + + // Estimate true peak position aka. meanBin (fit parabola y(x) over y0, y1 and y2, solve dy/dx=0 for x) + const float denom = 2.0f * (y0 - 2 * y1 + y2); + if (denom != 0.0f) { + meanBin += (y0 - y2) / denom; } - // accumulate lower shoulder unless lower shoulder would be bin 0 (DC) - if (peaks[p].bin > 1) { - shoulderBin = peaks[p].bin - 1; - squaredData = sdftData[shoulderBin]; // sdftData already squared (see sdftWinSq) - sdftSum += squaredData; - sdftWeightedSum += squaredData * shoulderBin; - } + // Convert bin to frequency: freq = bin * binResoultion (bin 0 is 0Hz) + const float centerFreq = constrainf(meanBin * sdftResolutionHz, dynNotchMinHz, dynNotchMaxHz); - // get centerFreq in Hz from weighted bins - float centerFreq = dynNotchMaxHz; - float sdftMeanBin = 0; + // PT1 style smoothing moves notch center freqs rapidly towards big peaks and slowly away, up to 8x faster + // DYN_NOTCH_SMOOTH_HZ = 4 & gainMultiplier = 1 .. 8 => PT1 -3dB cutoff frequency = 4Hz .. 41Hz + const float gainMultiplier = constrainf(peaks[p].value / sdftMeanSq, 1.0f, 8.0f); - if (sdftSum > 0) { - sdftMeanBin = (sdftWeightedSum / sdftSum); - centerFreq = sdftMeanBin * sdftResolutionHz; - centerFreq = constrainf(centerFreq, dynNotchMinHz, dynNotchMaxHz); - // In theory, the index points to the centre frequency of the bin. - // at 1333hz, bin widths are 13.3Hz, so bin 2 (26.7Hz) has the range 20Hz to 33.3Hz - // Rav feels that maybe centerFreq = (sdftMeanBin + 0.5) * sdftResolutionHz is better - // empirical checking shows that not adding 0.5 works better - - // PT1 style dynamic smoothing moves rapidly towards big peaks and slowly away, up to 8x faster - // DYN_NOTCH_SMOOTH_HZ = 4 & dynamicFactor = 1 .. 8 => PT1 -3dB cutoff frequency = 4Hz .. 41Hz - const float dynamicFactor = constrainf(peaks[p].value / sdftMeanSq, 1.0f, 8.0f); - state->centerFreq[state->updateAxis][p] += smoothFactor * dynamicFactor * (centerFreq - state->centerFreq[state->updateAxis][p]); - } + // Finally update notch center frequency p on current axis + state->centerFreq[state->updateAxis][p] += gain * gainMultiplier * (centerFreq - state->centerFreq[state->updateAxis][p]); } } @@ -347,10 +330,7 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state) for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { // Only update notch filter coefficients if the corresponding peak got its center frequency updated in the previous step if (peaks[p].bin != 0 && peaks[p].value > sdftMeanSq) { - // Choose notch Q in such a way that notch bandwidth stays constant (improves prop wash handling) - float dynamicQ = state->centerFreq[state->updateAxis][p] / (float)dynNotchBandwidthHz; - dynamicQ = constrainf(dynamicQ, 2.0f, 10.0f); - biquadFilterUpdate(&gyro.notchFilterDyn[state->updateAxis][p], state->centerFreq[state->updateAxis][p], gyro.targetLooptime, dynamicQ, FILTER_NOTCH); + biquadFilterUpdate(&gyro.notchFilterDyn[state->updateAxis][p], state->centerFreq[state->updateAxis][p], gyro.targetLooptime, dynNotchQ, FILTER_NOTCH); } } diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c index e46ef0ec7a..232684dbe8 100644 --- a/src/main/msp/msp.c +++ b/src/main/msp/msp.c @@ -1780,7 +1780,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst) #if defined(USE_GYRO_DATA_ANALYSE) sbufWriteU8(dst, 0); // DEPRECATED 1.43: dyn_notch_range sbufWriteU8(dst, 0); // DEPRECATED 1.44: dyn_notch_width_percent - sbufWriteU16(dst, 0); // DEPRECATED 1.44: dyn_notch_q + sbufWriteU16(dst, gyroConfig()->dyn_notch_q); sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz); #else sbufWriteU8(dst, 0); @@ -1809,10 +1809,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst) #endif #if defined(USE_GYRO_DATA_ANALYSE) sbufWriteU8(dst, gyroConfig()->dyn_notch_count); - sbufWriteU16(dst, gyroConfig()->dyn_notch_bandwidth_hz); #else sbufWriteU8(dst, 0); - sbufWriteU16(dst, 0); #endif break; @@ -2656,7 +2654,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, #if defined(USE_GYRO_DATA_ANALYSE) sbufReadU8(src); // DEPRECATED 1.43: dyn_notch_range sbufReadU8(src); // DEPRECATED 1.44: dyn_notch_width_percent - sbufReadU16(src); // DEPRECATED 1.44: dyn_notch_q + gyroConfigMutable()->dyn_notch_q = sbufReadU16(src); gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src); #else sbufReadU8(src); @@ -2680,7 +2678,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbufReadU16(src); #endif } - if (sbufBytesRemaining(src) >= 4) { + if (sbufBytesRemaining(src) >= 2) { // Added in MSP API 1.44 #if defined(USE_DYN_LPF) currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src); @@ -2689,10 +2687,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, #endif #if defined(USE_GYRO_DATA_ANALYSE) gyroConfigMutable()->dyn_notch_count = sbufReadU8(src); - gyroConfigMutable()->dyn_notch_bandwidth_hz = sbufReadU16(src); #else sbufReadU8(src); - sbufReadU16(src); #endif } diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 3953090de3..b57f099d54 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -129,8 +129,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig) gyroConfig->dyn_lpf_gyro_min_hz = DYN_LPF_GYRO_MIN_HZ_DEFAULT; gyroConfig->dyn_lpf_gyro_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT; gyroConfig->dyn_notch_max_hz = 600; - gyroConfig->dyn_notch_count = 1; - gyroConfig->dyn_notch_bandwidth_hz = 45; + gyroConfig->dyn_notch_count = 3; + gyroConfig->dyn_notch_q = 300; gyroConfig->dyn_notch_min_hz = 150; gyroConfig->gyro_filter_debug_axis = FD_ROLL; gyroConfig->dyn_lpf_curve_expo = 5; diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 2491c75471..8abcf2f7a8 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -200,7 +200,7 @@ typedef struct gyroConfig_s { uint16_t dyn_notch_max_hz; uint8_t dyn_notch_count; - uint16_t dyn_notch_bandwidth_hz; + uint16_t dyn_notch_q; uint16_t dyn_notch_min_hz; uint8_t gyro_filter_debug_axis;