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Remove filter unnecessery code // Simplify selection

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borisbstyle 2015-12-10 20:24:57 +01:00
parent e490564815
commit 6f4d741cd0
5 changed files with 11 additions and 19 deletions
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10
src/main/common/filter.c
View file

@ -34,18 +34,16 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
* 450-sized, 920kv, 9.4x4.3 props, 3S : 4622rpm = 77Hz
* 250-sized, 2300kv, 5x4.5 props, 4S : 14139rpm = 235Hz
*/
static int8_t gyroFIRCoeff_1000[3][9] = { { 0, 0, 12, 23, 40, 51, 52, 40, 38 }, // 1khz; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz
{ 18, 30, 42, 46, 40, 34, 22, 8, 8}, // 1khz; group delay 3ms; -0.5db = 18Hz ; -1db = 33Hz; -5db = 81Hz; -10db = 113Hz
{ 18, 12, 28, 40, 44, 40, 32, 22, 20} }; // 1khz; group delay 4ms; -0.5db = 23Hz ; -1db = 35Hz; -5db = 75Hz; -10db = 103Hz
static int8_t gyroFIRCoeff_1000[7] = { 12, 23, 40, 51, 52, 40, 38 }; // 1khz; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132hz
int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level)
int8_t * filterGetFIRCoefficientsTable(void)
{
return gyroFIRCoeff_1000[filter_level-1];
return gyroFIRCoeff_1000;
}
// 9 Tap FIR filter as described here:
// Thanks to Qcopter & BorisB & DigitalEntity
void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9])
void filterApplyFIR(int16_t data[3], int16_t state[3][7], int8_t coeff[7])
{
int32_t FIRsum;
int axis, i;

4
src/main/common/filter.h
View file

@ -13,5 +13,5 @@ typedef struct filterStatePt1_s {
} filterStatePt1_t;
float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float dt);
int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level);
void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9]);
int8_t * filterGetFIRCoefficientsTable(void);
void filterApplyFIR(int16_t data[3], int16_t state[3][7], int8_t coeff[7]);

4
src/main/config/config.c
View file

@ -175,7 +175,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->gyro_soft_lpf = 1; // LOW filtering by default
pidProfile->gyro_soft_lpf = 1; // filtering ON by default
pidProfile->dterm_cut_hz = 40;
pidProfile->yaw_pterm_cut_hz = 50;
@ -695,7 +695,7 @@ void activateConfig(void)
);
if (currentProfile->pidProfile.gyro_soft_lpf) {
useGyroConfig(&masterConfig.gyroConfig, filterGetFIRCoefficientsTable(currentProfile->pidProfile.gyro_soft_lpf));
useGyroConfig(&masterConfig.gyroConfig, filterGetFIRCoefficientsTable()); // Leave this for more coefficients in the future
}
#ifdef TELEMETRY

8
src/main/io/serial_cli.c
View file

@ -347,10 +347,6 @@ static const char * const lookupTableSerialRX[] = {
"XB-B-RJ01"
};
static const char * const lookupTableGyroFilter[] = {
"OFF", "LOW", "MEDIUM", "HIGH"
};
static const char * const lookupTableGyroLpf[] = {
"OFF",
"188HZ",
@ -378,7 +374,6 @@ typedef enum {
TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_GYRO_FILTER,
TABLE_GYRO_LPF,
} lookupTableIndex_e;
@ -395,7 +390,6 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) },
{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) }
};
@ -651,7 +645,7 @@ const clivalue_t valueTable[] = {
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
{ "gyro_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_GYRO_FILTER } },
{ "gyro_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_OFF_ON } },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },

4
src/main/sensors/gyro.c
View file

@ -39,7 +39,7 @@ int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
static gyroConfig_t *gyroConfig;
static int8_t * gyroFIRTable = 0L;
static int16_t gyroFIRState[3][9];
static int16_t gyroFIRState[3][7];
gyro_t gyro; // gyro access functions
sensor_align_e gyroAlign = 0;
@ -126,7 +126,7 @@ void gyroUpdate(void)
}
if (gyroFIRTable) {
filterApply9TapFIR(gyroADC, gyroFIRState, gyroFIRTable);
filterApplyFIR(gyroADC, gyroFIRState, gyroFIRTable);
}
alignSensors(gyroADC, gyroADC, gyroAlign);