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Merge branch 'rcFilter' of https://github.com/borisbstyle/cleanflight into borisbstyle-rcFilter

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This commit is contained in:
Dominic Clifton 2015-09-29 10:36:41 +01:00
commit 36a3ee4e59
6 changed files with 62 additions and 1 deletions
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42
src/main/mw.c
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@ -107,6 +107,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
static bool isRXDataNew;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@ -684,6 +686,41 @@ void processRx(void)
}
void filterRc(void){
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
static filterStatePt1_t filteredCycleTimeState;
uint16_t rxRefreshRate, filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcData[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcData[channel];
}
isRXDataNew = false;
factor = rcInterpolationFactor - 1;
} else {
factor--;
}
// Interpolate steps of rcData
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
}
}
void loop(void)
{
static uint32_t loopTime;
@ -695,6 +732,7 @@ void loop(void)
if (shouldProcessRx(currentTime)) {
processRx();
isRXDataNew = true;
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
@ -749,6 +787,10 @@ void loop(void)
}
}
if (masterConfig.rxConfig.rcSmoothing) {
filterRc();
}
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;