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Dual-stage Gyro Filtering: PT1, Biquad, Butterworth, Denoise (FIR), FKF (fixed K), and Biquad RC+FIR2 (#5391)

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* Dual-stage Gyro Filtering: PT1, FKF, and Biquad RC+FIR2

* Builds on the previous work of apocolipse.
* Fixes 'stage2'/'stage1' mis-naming to reflect where it is applied in the loop.
  That is, the older Biquad, PT1, Denoise (FIR) filters are 'stage2' - applied
  after dynamic and static notches (if enabled), and the controversial PT1,
  'fast Kalman' filter, and Biquad RC+FIR2 filters, are 'stage1'. e.g. before
  dynamic notch.
* FKF bruteforce Kalman gain removed. Calculate from half of PT1 RC constant,
  automatically taking loop-time into account.
* New union type definition for stage1 filtering.
* New gyro sensor members for stage1 filter application function and states for
  all three supported filter types
* New enum types for stage1 v. stage2. dterm lowpass type references 'stage2'.
* updates to CMS/MSP/FC to allow compilation (untested, probably breaks
  MSP, Lua, and ~comms with BFC~).
* Refactors FKF initialization, update and associated structures to be faster by
  not continuously calculating 'k'. Filter gain is calculated once during
  initialization from RC constant as per PT1 and Biquad RC+FIR2. It was
  discovered this converges to static value within 100 samples at 32kHz, so can
  be removed. Remove related interface (CLI) settings.
* update dterm_lowpass_type to use new 'TABLE_LOWPASS2_TYPE' (biquad/pt1/FIR)
* Stage 1 defaults to PT1, 763Hz (equivalent to Q400 / R88 from quasi-kalman
  filter) - suitable for 32kHz sampling modes. Can be switched to Biquad
  RC+FIR2, and FKF.
* Update `#if defined(USE_GYRO_SLEW_LIMITER) to `#ifdef`.
* Includes optional Lagged Moving Average 'smoothing' pipeline step, applied (in
  code) after the output of stage1.
* (diehertz): Removed redundant pointers from gyro filtering

* blackbox: fix indentation

* cms IMU menu: fix indentation

* filters: remove USE_GYRO_FIR_FILTER_DENOISE in filter type enum

* gyro sensors: go back to `if defined()` form. for slew limiter

* gyro sensors: increment parameter group version

* due to non-appending changes, the version must be bumped.
This commit is contained in:
AJ Christensen 2018-03-21 15:52:59 +13:00 • committed by Michael Keller
parent a579fc5b22
commit 46291a8374
11 changed files with 303 additions and 188 deletions
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4
src/main/interface/msp.c
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@ -1185,7 +1185,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
case MSP_FILTER_CONFIG :
sbufWriteU8(dst, gyroConfig()->gyro_soft_lpf_hz);
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_hz);
sbufWriteU16(dst, currentPidProfile->dterm_lowpass_hz);
sbufWriteU16(dst, currentPidProfile->yaw_lowpass_hz);
sbufWriteU16(dst, gyroConfig()->gyro_soft_notch_hz_1);
@ -1657,7 +1657,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_FILTER_CONFIG:
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
gyroConfigMutable()->gyro_lowpass_hz = sbufReadU8(src);
currentPidProfile->dterm_lowpass_hz = sbufReadU16(src);
currentPidProfile->yaw_lowpass_hz = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 8) {