diff --git a/src/main/common/filter.c b/src/main/common/filter.c index 36786199ba..87b0aaadde 100644 --- a/src/main/common/filter.c +++ b/src/main/common/filter.c @@ -115,12 +115,12 @@ float biquadFilterApply(biquadFilter_t *filter, float input) return result; } -void initDenoisingFilter(denoisingState_t *filter, uint8_t gyroSoftLpfHz, uint16_t targetLooptime) { +void initFirFilter(firFilterState_t *filter, uint8_t gyroSoftLpfHz, uint16_t targetLooptime) { filter->targetCount = constrain(lrintf((1.0f / (0.000001f * (float)targetLooptime)) / gyroSoftLpfHz), 1, MAX_DENOISE_WINDOW_SIZE); } /* prototype function for denoising of signal by dynamic moving average. Mainly for test purposes */ -float denoisingFilterUpdate(denoisingState_t *filter, float input) { +float firFilterUpdate(firFilterState_t *filter, float input) { filter->state[filter->index] = input; filter->movingSum += filter->state[filter->index++]; if (filter->index == filter->targetCount) diff --git a/src/main/common/filter.h b/src/main/common/filter.h index 4696edb325..03f91d21fc 100644 --- a/src/main/common/filter.h +++ b/src/main/common/filter.h @@ -29,18 +29,18 @@ typedef struct biquadFilter_s { float d1, d2; } biquadFilter_t; -typedef struct dennoisingState_s { +typedef struct firFilterState_s { int filledCount; int targetCount; int index; float movingSum; float state[MAX_DENOISE_WINDOW_SIZE]; -} denoisingState_t; +} firFilterState_t; typedef enum { FILTER_PT1 = 0, FILTER_BIQUAD, - FILTER_DENOISE + FILTER_FIR } filterType_e; typedef enum { @@ -56,6 +56,6 @@ float filterGetNotchQ(uint16_t centerFreq, uint16_t cutoff); void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT); float pt1FilterApply(pt1Filter_t *filter, float input); float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT); -void initDenoisingFilter(denoisingState_t *filter, uint8_t gyroSoftLpfHz, uint16_t targetLooptime); -float denoisingFilterUpdate(denoisingState_t *filter, float input); +void initFirFilter(firFilterState_t *filter, uint8_t gyroSoftLpfHz, uint16_t targetLooptime); +float firFilterUpdate(firFilterState_t *filter, float input); diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 59eb65015c..02f7f4e0ae 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -108,7 +108,7 @@ static pt1Filter_t deltaFilter[3]; static pt1Filter_t yawFilter; static biquadFilter_t dtermFilterLpf[3]; static biquadFilter_t dtermFilterNotch[3]; -static denoisingState_t dtermDenoisingState[3]; +static firFilterState_t dtermDenoisingState[3]; static bool dtermNotchInitialised; void initFilters(const pidProfile_t *pidProfile) { @@ -126,8 +126,8 @@ void initFilters(const pidProfile_t *pidProfile) { for (axis = 0; axis < 3; axis++) biquadFilterInitLPF(&dtermFilterLpf[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); } - if (pidProfile->dterm_filter_type == FILTER_DENOISE) { - for (axis = 0; axis < 3; axis++) initDenoisingFilter(&dtermDenoisingState[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); + if (pidProfile->dterm_filter_type == FILTER_FIR) { + for (axis = 0; axis < 3; axis++) initFirFilter(&dtermDenoisingState[axis], pidProfile->dterm_lpf_hz, targetPidLooptime); } lowpassFilterType = pidProfile->dterm_filter_type; } @@ -282,7 +282,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc else if (pidProfile->dterm_filter_type == FILTER_PT1) delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT()); else - delta = denoisingFilterUpdate(&dtermDenoisingState[axis], delta); + delta = firFilterUpdate(&dtermDenoisingState[axis], delta); } DTerm = Kd[axis] * delta * tpaFactor; @@ -422,7 +422,7 @@ static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclina else if (pidProfile->dterm_filter_type == FILTER_PT1) delta = pt1FilterApply4(&deltaFilter[axis], delta, pidProfile->dterm_lpf_hz, getdT()); else - delta = denoisingFilterUpdate(&dtermDenoisingState[axis], delta); + delta = firFilterUpdate(&dtermDenoisingState[axis], delta); delta = lrintf(deltaf); } diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 9c1fb89ed9..5d43234e1e 100755 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -515,7 +515,7 @@ static const char * const lookupTableRcInterpolation[] = { }; static const char * const lookupTableLowpassType[] = { - "NORMAL", "HIGH", "DENOISE" + "PT1", "BIQUAD", "FIR" }; static const char * const lookupTableFailsafe[] = { diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 3dd8f59c2c..a7a8a542a1 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -48,7 +48,7 @@ static const gyroConfig_t *gyroConfig; static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT]; static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT], gyroFilterNotch_2[XYZ_AXIS_COUNT]; static pt1Filter_t gyroFilterPt1[XYZ_AXIS_COUNT]; -static denoisingState_t gyroDenoiseState[XYZ_AXIS_COUNT]; +static firFilterState_t gyroDenoiseState[XYZ_AXIS_COUNT]; static uint8_t gyroSoftLpfType; static uint16_t gyroSoftNotchHz1, gyroSoftNotchHz2; static float gyroSoftNotchQ1, gyroSoftNotchQ2; @@ -82,7 +82,7 @@ void gyroInit(void) else if (gyroSoftLpfType == FILTER_PT1) gyroDt = (float) gyro.targetLooptime * 0.000001f; else - initDenoisingFilter(&gyroDenoiseState[axis], gyroSoftLpfHz, gyro.targetLooptime); + initFirFilter(&gyroDenoiseState[axis], gyroSoftLpfHz, gyro.targetLooptime); } } @@ -197,7 +197,7 @@ void gyroUpdate(void) else if (gyroSoftLpfType == FILTER_PT1) gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt); else - gyroADCf[axis] = denoisingFilterUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]); + gyroADCf[axis] = firFilterUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]); if (debugMode == DEBUG_NOTCH) debug[axis] = lrintf(gyroADCf[axis]); diff --git a/src/main/target/NAZE/config.c b/src/main/target/NAZE/config.c index 8004561405..7596d8ec65 100755 --- a/src/main/target/NAZE/config.c +++ b/src/main/target/NAZE/config.c @@ -90,11 +90,11 @@ void targetConfiguration(master_t *config) for (int profileId = 0; profileId < 2; profileId++) { config->profile[profileId].pidProfile.P8[ROLL] = 55; - config->profile[profileId].pidProfile.I8[ROLL] = 40; - config->profile[profileId].pidProfile.D8[ROLL] = 20; - config->profile[profileId].pidProfile.P8[PITCH] = 55; - config->profile[profileId].pidProfile.I8[PITCH] = 40; - config->profile[profileId].pidProfile.D8[PITCH] = 20; + config->profile[profileId].pidProfile.I8[ROLL] = 50; + config->profile[profileId].pidProfile.D8[ROLL] = 25; + config->profile[profileId].pidProfile.P8[PITCH] = 65; + config->profile[profileId].pidProfile.I8[PITCH] = 60; + config->profile[profileId].pidProfile.D8[PITCH] = 28; config->profile[profileId].pidProfile.P8[YAW] = 180; config->profile[profileId].pidProfile.I8[YAW] = 45; config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50; @@ -102,11 +102,11 @@ void targetConfiguration(master_t *config) config->profile[profileId].pidProfile.levelSensitivity = 1.0f; for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) { - config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 120; - config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 120; - config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 99; - config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 99; - config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 99; + config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 110; + config->profile[profileId].controlRateProfile[rateProfileId].rcYawRate8 = 110; + config->profile[profileId].controlRateProfile[rateProfileId].rates[ROLL] = 80; + config->profile[profileId].controlRateProfile[rateProfileId].rates[PITCH] = 80; + config->profile[profileId].controlRateProfile[rateProfileId].rates[YAW] = 80; config->profile[profileId].pidProfile.setpointRelaxRatio = 100; } diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index 3bc6f0549c..c82d66ea33 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -164,6 +164,8 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE +#define DEFAULT_RX_FEATURE FEATURE_RX_PPM + // IO - assuming all IOs on 48pin package #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff