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Merge pull request #10767 from KarateBrot/dynamicFilter

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Michael Keller 2021-06-27 18:21:05 +12:00 • committed by GitHub
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10 changed files with 96 additions and 119 deletions
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2
src/main/blackbox/blackbox.c
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@ -1422,7 +1422,7 @@ static bool blackboxWriteSysinfo(void)
#ifdef USE_GYRO_DATA_ANALYSE #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_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_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); BLACKBOX_PRINT_HEADER_LINE("dyn_notch_min_hz", "%d", gyroConfig()->dyn_notch_min_hz);
#endif #endif
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY

2
src/main/cli/settings.c
View file

@ -662,7 +662,7 @@ const clivalue_t valueTable[] = {
#endif #endif
#if defined(USE_GYRO_DATA_ANALYSE) #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_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_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) }, { "dyn_notch_max_hz", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_max_hz) },
#endif #endif

8
src/main/cms/cms_menu_imu.c
View file

@ -757,7 +757,7 @@ static CMS_Menu cmsx_menuFilterGlobal = {
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
static uint16_t dynFiltNotchMaxHz; static uint16_t dynFiltNotchMaxHz;
static uint8_t dynFiltCount; static uint8_t dynFiltCount;
static uint16_t dynFiltBandwidthHz; static uint16_t dynFiltNotchQ;
static uint16_t dynFiltNotchMinHz; static uint16_t dynFiltNotchMinHz;
#endif #endif
#ifdef USE_DYN_LPF #ifdef USE_DYN_LPF
@ -776,7 +776,7 @@ static const void *cmsx_menuDynFilt_onEnter(displayPort_t *pDisp)
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
dynFiltNotchMaxHz = gyroConfig()->dyn_notch_max_hz; dynFiltNotchMaxHz = gyroConfig()->dyn_notch_max_hz;
dynFiltCount = gyroConfig()->dyn_notch_count; dynFiltCount = gyroConfig()->dyn_notch_count;
dynFiltBandwidthHz = gyroConfig()->dyn_notch_bandwidth_hz; dynFiltNotchQ = gyroConfig()->dyn_notch_q;
dynFiltNotchMinHz = gyroConfig()->dyn_notch_min_hz; dynFiltNotchMinHz = gyroConfig()->dyn_notch_min_hz;
#endif #endif
#ifdef USE_DYN_LPF #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 #ifdef USE_GYRO_DATA_ANALYSE
gyroConfigMutable()->dyn_notch_max_hz = dynFiltNotchMaxHz; gyroConfigMutable()->dyn_notch_max_hz = dynFiltNotchMaxHz;
gyroConfigMutable()->dyn_notch_count = dynFiltCount; gyroConfigMutable()->dyn_notch_count = dynFiltCount;
gyroConfigMutable()->dyn_notch_bandwidth_hz = dynFiltBandwidthHz; gyroConfigMutable()->dyn_notch_q = dynFiltNotchQ;
gyroConfigMutable()->dyn_notch_min_hz = dynFiltNotchMinHz; gyroConfigMutable()->dyn_notch_min_hz = dynFiltNotchMinHz;
#endif #endif
#ifdef USE_DYN_LPF #ifdef USE_DYN_LPF
@ -822,7 +822,7 @@ static const OSD_Entry cmsx_menuDynFiltEntries[] =
#ifdef USE_GYRO_DATA_ANALYSE #ifdef USE_GYRO_DATA_ANALYSE
{ "NOTCH COUNT", OME_UINT8, NULL, &(OSD_UINT8_t) { &dynFiltCount, 1, DYN_NOTCH_COUNT_MAX, 1 }, 0 }, { "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 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 }, { "NOTCH MAX HZ", OME_UINT16, NULL, &(OSD_UINT16_t) { &dynFiltNotchMaxHz, 0, 1000, 1 }, 0 },
#endif #endif

36
src/main/common/sdft.c
View file

@ -35,13 +35,13 @@ static FAST_DATA_ZERO_INIT complex_t twiddle[SDFT_BIN_COUNT];
static void applySqrt(const sdft_t *sdft, float *data); static void applySqrt(const sdft_t *sdft, float *data);
void sdftInit(sdft_t *sdft, const uint8_t startBin, const uint8_t endBin, const uint8_t numBatches) void sdftInit(sdft_t *sdft, const int startBin, const int endBin, const int numBatches)
{ {
if (!isInitialized) { if (!isInitialized) {
rPowerN = powf(SDFT_R, SDFT_SAMPLE_SIZE); rPowerN = powf(SDFT_R, SDFT_SAMPLE_SIZE);
const float c = 2.0f * M_PIf / (float)SDFT_SAMPLE_SIZE; const float c = 2.0f * M_PIf / (float)SDFT_SAMPLE_SIZE;
float phi = 0.0f; float phi = 0.0f;
for (uint8_t i = 0; i < SDFT_BIN_COUNT; i++) { for (int i = 0; i < SDFT_BIN_COUNT; i++) {
phi = c * i; phi = c * i;
twiddle[i] = SDFT_R * (cos_approx(phi) + _Complex_I * sin_approx(phi)); twiddle[i] = SDFT_R * (cos_approx(phi) + _Complex_I * sin_approx(phi));
} }
@ -54,47 +54,47 @@ void sdftInit(sdft_t *sdft, const uint8_t startBin, const uint8_t endBin, const
sdft->numBatches = numBatches; sdft->numBatches = numBatches;
sdft->batchSize = (sdft->endBin - sdft->startBin + 1) / sdft->numBatches + 1; sdft->batchSize = (sdft->endBin - sdft->startBin + 1) / sdft->numBatches + 1;
for (uint8_t i = 0; i < SDFT_SAMPLE_SIZE; i++) { for (int i = 0; i < SDFT_SAMPLE_SIZE; i++) {
sdft->samples[i] = 0.0f; sdft->samples[i] = 0.0f;
} }
for (uint8_t i = 0; i < SDFT_BIN_COUNT; i++) { for (int i = 0; i < SDFT_BIN_COUNT; i++) {
sdft->data[i] = 0.0f; sdft->data[i] = 0.0f;
} }
} }
// Add new sample to frequency spectrum // Add new sample to frequency spectrum
FAST_CODE void sdftPush(sdft_t *sdft, const float *sample) FAST_CODE void sdftPush(sdft_t *sdft, const float sample)
{ {
const float delta = *sample - rPowerN * sdft->samples[sdft->idx]; const float delta = sample - rPowerN * sdft->samples[sdft->idx];
sdft->samples[sdft->idx] = *sample; sdft->samples[sdft->idx] = sample;
sdft->idx = (sdft->idx + 1) % SDFT_SAMPLE_SIZE; sdft->idx = (sdft->idx + 1) % SDFT_SAMPLE_SIZE;
for (uint8_t i = sdft->startBin; i <= sdft->endBin; i++) { for (int i = sdft->startBin; i <= sdft->endBin; i++) {
sdft->data[i] = twiddle[i] * (sdft->data[i] + delta); sdft->data[i] = twiddle[i] * (sdft->data[i] + delta);
} }
} }
// Add new sample to frequency spectrum in parts // Add new sample to frequency spectrum in parts
FAST_CODE void sdftPushBatch(sdft_t* sdft, const float *sample, const uint8_t *batchIdx) FAST_CODE void sdftPushBatch(sdft_t* sdft, const float sample, const int batchIdx)
{ {
const uint8_t batchStart = sdft->batchSize * *batchIdx; const int batchStart = sdft->batchSize * batchIdx;
uint8_t batchEnd = batchStart; int batchEnd = batchStart;
const float delta = *sample - rPowerN * sdft->samples[sdft->idx]; const float delta = sample - rPowerN * sdft->samples[sdft->idx];
if (*batchIdx == sdft->numBatches - 1) { if (batchIdx == sdft->numBatches - 1) {
sdft->samples[sdft->idx] = *sample; sdft->samples[sdft->idx] = sample;
sdft->idx = (sdft->idx + 1) % SDFT_SAMPLE_SIZE; sdft->idx = (sdft->idx + 1) % SDFT_SAMPLE_SIZE;
batchEnd += sdft->endBin - batchStart + 1; batchEnd += sdft->endBin - batchStart + 1;
} else { } else {
batchEnd += sdft->batchSize; batchEnd += sdft->batchSize;
} }
for (uint8_t i = batchStart; i < batchEnd; i++) { for (int i = batchStart; i < batchEnd; i++) {
sdft->data[i] = twiddle[i] * (sdft->data[i] + delta); sdft->data[i] = twiddle[i] * (sdft->data[i] + delta);
} }
} }
@ -106,7 +106,7 @@ FAST_CODE void sdftMagSq(const sdft_t *sdft, float *output)
float re; float re;
float im; float im;
for (uint8_t i = sdft->startBin; i <= sdft->endBin; i++) { for (int i = sdft->startBin; i <= sdft->endBin; i++) {
re = crealf(sdft->data[i]); re = crealf(sdft->data[i]);
im = cimagf(sdft->data[i]); im = cimagf(sdft->data[i]);
output[i] = re * re + im * im; output[i] = re * re + im * im;
@ -130,7 +130,7 @@ FAST_CODE void sdftWinSq(const sdft_t *sdft, float *output)
float re; float re;
float im; float im;
for (uint8_t i = (sdft->startBin + 1); i < sdft->endBin; i++) { for (int i = (sdft->startBin + 1); i < sdft->endBin; i++) {
val = sdft->data[i] - 0.5f * (sdft->data[i - 1] + sdft->data[i + 1]); // multiply by 2 to save one multiplication val = sdft->data[i] - 0.5f * (sdft->data[i - 1] + sdft->data[i + 1]); // multiply by 2 to save one multiplication
re = crealf(val); re = crealf(val);
im = cimagf(val); im = cimagf(val);
@ -150,7 +150,7 @@ FAST_CODE void sdftWindow(const sdft_t *sdft, float *output)
// Apply square root to the whole sdft range // Apply square root to the whole sdft range
static FAST_CODE void applySqrt(const sdft_t *sdft, float *data) static FAST_CODE void applySqrt(const sdft_t *sdft, float *data)
{ {
for (uint8_t i = sdft->startBin; i <= sdft->endBin; i++) { for (int i = sdft->startBin; i <= sdft->endBin; i++) {
data[i] = sqrtf(data[i]); data[i] = sqrtf(data[i]);
} }
} }

18
src/main/common/sdft.h
View file

@ -33,21 +33,19 @@ typedef float complex complex_t; // Better readability for type "float complex"
typedef struct sdft_s { typedef struct sdft_s {
uint8_t idx; // circular buffer index int idx; // circular buffer index
uint8_t startBin; int startBin;
uint8_t endBin; int endBin;
uint8_t batchSize; int batchSize;
uint8_t numBatches; int numBatches;
float samples[SDFT_SAMPLE_SIZE]; // circular buffer float samples[SDFT_SAMPLE_SIZE]; // circular buffer
complex_t data[SDFT_BIN_COUNT]; // complex frequency spectrum complex_t data[SDFT_BIN_COUNT]; // complex frequency spectrum
} sdft_t; } sdft_t;
STATIC_ASSERT(SDFT_SAMPLE_SIZE <= (uint8_t)-1, window_size_greater_than_underlying_type); void sdftInit(sdft_t *sdft, const int startBin, const int endBin, const int numBatches);
void sdftPush(sdft_t *sdft, const float sample);
void sdftInit(sdft_t *sdft, const uint8_t startBin, const uint8_t endBin, const uint8_t numBatches); void sdftPushBatch(sdft_t *sdft, const float sample, const int batchIdx);
void sdftPush(sdft_t *sdft, const float *sample);
void sdftPushBatch(sdft_t *sdft, const float *sample, const uint8_t *batchIdx);
void sdftMagSq(const sdft_t *sdft, float *output); void sdftMagSq(const sdft_t *sdft, float *output);
void sdftMagnitude(const sdft_t *sdft, float *output); void sdftMagnitude(const sdft_t *sdft, float *output);
void sdftWinSq(const sdft_t *sdft, float *output); void sdftWinSq(const sdft_t *sdft, float *output);

125
src/main/flight/gyroanalyse.c
View file

@ -29,7 +29,6 @@
*/ */
#include <math.h> #include <math.h>
#include <stdint.h>
#include "platform.h" #include "platform.h"
@ -98,7 +97,7 @@ typedef enum {
typedef struct peak_s { typedef struct peak_s {
uint8_t bin; int bin;
float value; float value;
} peak_t; } peak_t;
@ -106,27 +105,27 @@ typedef struct peak_s {
static sdft_t FAST_DATA_ZERO_INIT sdft[XYZ_AXIS_COUNT]; static sdft_t FAST_DATA_ZERO_INIT sdft[XYZ_AXIS_COUNT];
static peak_t FAST_DATA_ZERO_INIT peaks[DYN_NOTCH_COUNT_MAX]; static peak_t FAST_DATA_ZERO_INIT peaks[DYN_NOTCH_COUNT_MAX];
static float FAST_DATA_ZERO_INIT sdftData[SDFT_BIN_COUNT]; static float FAST_DATA_ZERO_INIT sdftData[SDFT_BIN_COUNT];
static uint16_t FAST_DATA_ZERO_INIT sdftSampleRateHz; static float FAST_DATA_ZERO_INIT sdftSampleRateHz;
static float FAST_DATA_ZERO_INIT sdftResolutionHz; static float FAST_DATA_ZERO_INIT sdftResolutionHz;
static uint8_t FAST_DATA_ZERO_INIT sdftStartBin; static int FAST_DATA_ZERO_INIT sdftStartBin;
static uint8_t FAST_DATA_ZERO_INIT sdftEndBin; static int FAST_DATA_ZERO_INIT sdftEndBin;
static float FAST_DATA_ZERO_INIT sdftMeanSq; static float FAST_DATA_ZERO_INIT sdftMeanSq;
static uint16_t FAST_DATA_ZERO_INIT dynNotchBandwidthHz; static float FAST_DATA_ZERO_INIT dynNotchQ;
static uint16_t FAST_DATA_ZERO_INIT dynNotchMinHz; static float FAST_DATA_ZERO_INIT dynNotchMinHz;
static uint16_t FAST_DATA_ZERO_INIT dynNotchMaxHz; static float FAST_DATA_ZERO_INIT dynNotchMaxHz;
static uint16_t FAST_DATA_ZERO_INIT dynNotchMaxFFT; 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; static int FAST_DATA_ZERO_INIT numSamples;
void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs) void gyroDataAnalyseInit(gyroAnalyseState_t *state, const uint32_t targetLooptimeUs)
{ {
// initialise even if FEATURE_DYNAMIC_FILTER not set, since it may be set later // 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; dynNotchMinHz = gyroConfig()->dyn_notch_min_hz;
dynNotchMaxHz = MAX(2 * dynNotchMinHz, gyroConfig()->dyn_notch_max_hz); dynNotchMaxHz = MAX(2 * dynNotchMinHz, gyroConfig()->dyn_notch_max_hz);
// gyroDataAnalyse() is running at targetLoopRateHz (which is PID loop rate aka. 1e6f/gyro.targetLooptimeUs) // gyroDataAnalyse() is running at targetLoopRateHz (which is PID loop rate aka. 1e6f/gyro.targetLooptimeUs)
const int32_t targetLoopRateHz = lrintf((1.0f / targetLooptimeUs) * 1e6f); const float targetLoopRateHz = 1.0f / targetLooptimeUs * 1e6f;
numSamples = MAX(1, targetLoopRateHz / (2 * dynNotchMaxHz)); // 600hz, 8k looptime, 6.00 numSamples = MAX(1, targetLoopRateHz / (2 * dynNotchMaxHz)); // 600hz, 8k looptime, 6.00
sdftSampleRateHz = targetLoopRateHz / numSamples; sdftSampleRateHz = targetLoopRateHz / numSamples;
@ -137,20 +136,20 @@ void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs)
// eg 1k, user max 600hz, int(1000/1200) = 1 (max(1,0.8333)) sdftSampleRateHz = 1000hz, range 500Hz // eg 1k, user max 600hz, int(1000/1200) = 1 (max(1,0.8333)) sdftSampleRateHz = 1000hz, range 500Hz
// the upper limit of DN is always going to be the Nyquist frequency (= sampleRate / 2) // the upper limit of DN is always going to be the Nyquist frequency (= sampleRate / 2)
sdftResolutionHz = (float)sdftSampleRateHz / SDFT_SAMPLE_SIZE; // 13.3hz per bin at 8k sdftResolutionHz = 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. sdftStartBin = MAX(2, 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. sdftEndBin = MIN(SDFT_BIN_COUNT - 1, 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 / targetLoopRateHz); // minimum PT1 k value
for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
sdftInit(&sdft[axis], sdftStartBin, sdftEndBin, numSamples); sdftInit(&sdft[axis], sdftStartBin, sdftEndBin, numSamples);
} }
state->maxSampleCount = numSamples; state->maxSampleCount = numSamples;
state->maxSampleCountRcp = 1.0f / state->maxSampleCount; state->maxSampleCountRcp = 1.0f / state->maxSampleCount;
for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
// any init value is fine, but evenly spreading centerFreqs across frequency range makes notch filters stick to peaks quicker // any init value is fine, but evenly spreading centerFreqs across frequency range makes notch filters stick to peaks quicker
state->centerFreq[axis][p] = (p + 0.5f) * (dynNotchMaxHz - dynNotchMinHz) / (float)gyro.notchFilterDynCount + dynNotchMinHz; state->centerFreq[axis][p] = (p + 0.5f) * (dynNotchMaxHz - dynNotchMinHz) / (float)gyro.notchFilterDynCount + dynNotchMinHz;
} }
@ -158,7 +157,7 @@ void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs)
} }
// Collect gyro data, to be downsampled and analysed in gyroDataAnalyse() function // Collect gyro data, to be downsampled and analysed in gyroDataAnalyse() function
void gyroDataAnalysePush(gyroAnalyseState_t *state, const uint8_t axis, const float sample) void gyroDataAnalysePush(gyroAnalyseState_t *state, const int axis, const float sample)
{ {
state->oversampledGyroAccumulator[axis] += sample; state->oversampledGyroAccumulator[axis] += sample;
} }
@ -174,7 +173,7 @@ FAST_CODE void gyroDataAnalyse(gyroAnalyseState_t *state)
state->sampleCount = 0; state->sampleCount = 0;
// calculate mean value of accumulated samples // calculate mean value of accumulated samples
for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
const float sample = state->oversampledGyroAccumulator[axis] * state->maxSampleCountRcp; const float sample = state->oversampledGyroAccumulator[axis] * state->maxSampleCountRcp;
state->downsampledGyroData[axis] = sample; state->downsampledGyroData[axis] = sample;
if (axis == 0) { if (axis == 0) {
@ -192,8 +191,8 @@ FAST_CODE void gyroDataAnalyse(gyroAnalyseState_t *state)
// 2us @ F722 // 2us @ F722
// SDFT processing in batches to synchronize with incoming downsampled data // SDFT processing in batches to synchronize with incoming downsampled data
for (uint8_t axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
sdftPushBatch(&sdft[axis], &state->downsampledGyroData[axis], &state->sampleCount); sdftPushBatch(&sdft[axis], state->downsampledGyroData[axis], state->sampleCount);
} }
state->sampleCount++; state->sampleCount++;
@ -222,7 +221,7 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
// Calculate mean square over frequency range (= average power of vibrations) // Calculate mean square over frequency range (= average power of vibrations)
sdftMeanSq = 0.0f; sdftMeanSq = 0.0f;
for (uint8_t bin = (sdftStartBin + 1); bin < sdftEndBin; bin++) { // don't use startBin or endBin because they are not windowed properly for (int bin = (sdftStartBin + 1); bin < sdftEndBin; bin++) { // don't use startBin or endBin because they are not windowed properly
sdftMeanSq += sdftData[bin]; // sdftData is already squared (see sdftWinSq) sdftMeanSq += sdftData[bin]; // sdftData is already squared (see sdftWinSq)
} }
sdftMeanSq /= sdftEndBin - sdftStartBin - 1; sdftMeanSq /= sdftEndBin - sdftStartBin - 1;
@ -234,20 +233,20 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
case STEP_DETECT_PEAKS: // 6us @ F722 case STEP_DETECT_PEAKS: // 6us @ F722
{ {
// Get memory ready for new peak data on current axis // Get memory ready for new peak data on current axis
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
peaks[p].bin = 0; peaks[p].bin = 0;
peaks[p].value = 0.0f; peaks[p].value = 0.0f;
} }
// Search for N biggest peaks in frequency spectrum // Search for N biggest peaks in frequency spectrum
for (uint8_t bin = (sdftStartBin + 1); bin < sdftEndBin; bin++) { for (int bin = (sdftStartBin + 1); bin < sdftEndBin; bin++) {
// Check if bin is peak // Check if bin is peak
if ((sdftData[bin] > sdftData[bin - 1]) && (sdftData[bin] > sdftData[bin + 1])) { if ((sdftData[bin] > sdftData[bin - 1]) && (sdftData[bin] > sdftData[bin + 1])) {
// Check if peak is big enough to be one of N biggest peaks. // Check if peak is big enough to be one of N biggest peaks.
// If so, insert peak and sort peaks in descending height order // If so, insert peak and sort peaks in descending height order
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
if (sdftData[bin] > peaks[p].value) { if (sdftData[bin] > peaks[p].value) {
for (uint8_t k = gyro.notchFilterDynCount - 1; k > p; k--) { for (int k = gyro.notchFilterDynCount - 1; k > p; k--) {
peaks[k] = peaks[k - 1]; peaks[k] = peaks[k - 1];
} }
peaks[p].bin = bin; peaks[p].bin = bin;
@ -260,8 +259,8 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
} }
// Sort N biggest peaks in ascending bin order (example: 3, 8, 25, 0, 0, ..., 0) // Sort N biggest peaks in ascending bin order (example: 3, 8, 25, 0, 0, ..., 0)
for (uint8_t p = gyro.notchFilterDynCount - 1; p > 0; p--) { for (int p = gyro.notchFilterDynCount - 1; p > 0; p--) {
for (uint8_t k = 0; k < p; k++) { for (int k = 0; k < p; k++) {
// Swap peaks but ignore swapping void peaks (bin = 0). This leaves // Swap peaks but ignore swapping void peaks (bin = 0). This leaves
// void peaks at the end of peaks array without moving them // void peaks at the end of peaks array without moving them
if (peaks[k].bin > peaks[k + 1].bin && peaks[k + 1].bin != 0) { if (peaks[k].bin > peaks[k + 1].bin && peaks[k + 1].bin != 0) {
@ -278,61 +277,44 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
} }
case STEP_CALC_FREQUENCIES: // 4us @ F722 case STEP_CALC_FREQUENCIES: // 4us @ F722
{ {
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
// Only update state->centerFreq if there is a peak (ignore void peaks) and if peak is above noise floor // 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) { if (peaks[p].bin != 0 && peaks[p].value > sdftMeanSq) {
// accumulate sdftSum and sdftWeightedSum from peak bin, and shoulder bins either side of peak float meanBin = peaks[p].bin;
float squaredData = peaks[p].value; // peak data already squared (see sdftWinSq)
float sdftSum = squaredData;
float sdftWeightedSum = squaredData * peaks[p].bin;
// accumulate upper shoulder unless it would be sdftEndBin // Height of peak bin (y1) and shoulder bins (y0, y2)
uint8_t shoulderBin = peaks[p].bin + 1; const float y0 = sdftData[peaks[p].bin - 1];
if (shoulderBin < sdftEndBin) { const float y1 = sdftData[peaks[p].bin];
squaredData = sdftData[shoulderBin]; // sdftData already squared (see sdftWinSq) const float y2 = sdftData[peaks[p].bin + 1];
sdftSum += squaredData;
sdftWeightedSum += squaredData * shoulderBin; // 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) // Convert bin to frequency: freq = bin * binResoultion (bin 0 is 0Hz)
if (peaks[p].bin > 1) { const float centerFreq = constrainf(meanBin * sdftResolutionHz, dynNotchMinHz, dynNotchMaxHz);
shoulderBin = peaks[p].bin - 1;
squaredData = sdftData[shoulderBin]; // sdftData already squared (see sdftWinSq)
sdftSum += squaredData;
sdftWeightedSum += squaredData * shoulderBin;
}
// get centerFreq in Hz from weighted bins // PT1 style smoothing moves notch center freqs rapidly towards big peaks and slowly away, up to 8x faster
float centerFreq = dynNotchMaxHz; // DYN_NOTCH_SMOOTH_HZ = 4 & gainMultiplier = 1 .. 8 => PT1 -3dB cutoff frequency = 4Hz .. 41Hz
float sdftMeanBin = 0; const float gainMultiplier = constrainf(peaks[p].value / sdftMeanSq, 1.0f, 8.0f);
if (sdftSum > 0) { // Finally update notch center frequency p on current axis
sdftMeanBin = (sdftWeightedSum / sdftSum); state->centerFreq[state->updateAxis][p] += gain * gainMultiplier * (centerFreq - state->centerFreq[state->updateAxis][p]);
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]);
}
} }
} }
if(calculateThrottlePercentAbs() > DYN_NOTCH_OSD_MIN_THROTTLE) { if(calculateThrottlePercentAbs() > DYN_NOTCH_OSD_MIN_THROTTLE) {
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
dynNotchMaxFFT = MAX(dynNotchMaxFFT, state->centerFreq[state->updateAxis][p]); dynNotchMaxFFT = MAX(dynNotchMaxFFT, state->centerFreq[state->updateAxis][p]);
} }
} }
if (state->updateAxis == gyro.gyroDebugAxis) { if (state->updateAxis == gyro.gyroDebugAxis) {
for (uint8_t p = 0; p < gyro.notchFilterDynCount && p < 3; p++) { for (int p = 0; p < gyro.notchFilterDynCount && p < 3; p++) {
DEBUG_SET(DEBUG_FFT_FREQ, p, lrintf(state->centerFreq[state->updateAxis][p])); DEBUG_SET(DEBUG_FFT_FREQ, p, lrintf(state->centerFreq[state->updateAxis][p]));
} }
DEBUG_SET(DEBUG_DYN_LPF, 1, lrintf(state->centerFreq[state->updateAxis][0])); DEBUG_SET(DEBUG_DYN_LPF, 1, lrintf(state->centerFreq[state->updateAxis][0]));
@ -344,13 +326,10 @@ static FAST_CODE_NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
} }
case STEP_UPDATE_FILTERS: // 7us @ F722 case STEP_UPDATE_FILTERS: // 7us @ F722
{ {
for (uint8_t p = 0; p < gyro.notchFilterDynCount; p++) { for (int p = 0; p < gyro.notchFilterDynCount; p++) {
// Only update notch filter coefficients if the corresponding peak got its center frequency updated in the previous step // 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) { 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) biquadFilterUpdate(&gyro.notchFilterDyn[state->updateAxis][p], state->centerFreq[state->updateAxis][p], gyro.targetLooptime, dynNotchQ, FILTER_NOTCH);
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);
} }
} }

8
src/main/flight/gyroanalyse.h
View file

@ -20,6 +20,10 @@
#pragma once #pragma once
#include <stdint.h>
#include "common/axis.h"
#define DYN_NOTCH_COUNT_MAX 5 #define DYN_NOTCH_COUNT_MAX 5
typedef struct gyroAnalyseState_s { typedef struct gyroAnalyseState_s {
@ -42,8 +46,8 @@ typedef struct gyroAnalyseState_s {
} gyroAnalyseState_t; } gyroAnalyseState_t;
void gyroDataAnalyseInit(gyroAnalyseState_t *state, uint32_t targetLooptimeUs); void gyroDataAnalyseInit(gyroAnalyseState_t *state, const uint32_t targetLooptimeUs);
void gyroDataAnalysePush(gyroAnalyseState_t *state, const uint8_t axis, const float sample); void gyroDataAnalysePush(gyroAnalyseState_t *state, const int axis, const float sample);
void gyroDataAnalyse(gyroAnalyseState_t *state); void gyroDataAnalyse(gyroAnalyseState_t *state);
uint16_t getMaxFFT(void); uint16_t getMaxFFT(void);
void resetMaxFFT(void); void resetMaxFFT(void);

10
src/main/msp/msp.c
View file

@ -1780,7 +1780,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#if defined(USE_GYRO_DATA_ANALYSE) #if defined(USE_GYRO_DATA_ANALYSE)
sbufWriteU8(dst, 0); // DEPRECATED 1.43: dyn_notch_range sbufWriteU8(dst, 0); // DEPRECATED 1.43: dyn_notch_range
sbufWriteU8(dst, 0); // DEPRECATED 1.44: dyn_notch_width_percent 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); sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
@ -1809,10 +1809,8 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#endif #endif
#if defined(USE_GYRO_DATA_ANALYSE) #if defined(USE_GYRO_DATA_ANALYSE)
sbufWriteU8(dst, gyroConfig()->dyn_notch_count); sbufWriteU8(dst, gyroConfig()->dyn_notch_count);
sbufWriteU16(dst, gyroConfig()->dyn_notch_bandwidth_hz);
#else #else
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
#endif #endif
break; break;
@ -2656,7 +2654,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#if defined(USE_GYRO_DATA_ANALYSE) #if defined(USE_GYRO_DATA_ANALYSE)
sbufReadU8(src); // DEPRECATED 1.43: dyn_notch_range sbufReadU8(src); // DEPRECATED 1.43: dyn_notch_range
sbufReadU8(src); // DEPRECATED 1.44: dyn_notch_width_percent 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); gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
@ -2680,7 +2678,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU16(src); sbufReadU16(src);
#endif #endif
} }
if (sbufBytesRemaining(src) >= 4) { if (sbufBytesRemaining(src) >= 2) {
// Added in MSP API 1.44 // Added in MSP API 1.44
#if defined(USE_DYN_LPF) #if defined(USE_DYN_LPF)
currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src); currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src);
@ -2689,10 +2687,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#endif #endif
#if defined(USE_GYRO_DATA_ANALYSE) #if defined(USE_GYRO_DATA_ANALYSE)
gyroConfigMutable()->dyn_notch_count = sbufReadU8(src); gyroConfigMutable()->dyn_notch_count = sbufReadU8(src);
gyroConfigMutable()->dyn_notch_bandwidth_hz = sbufReadU16(src);
#else #else
sbufReadU8(src); sbufReadU8(src);
sbufReadU16(src);
#endif #endif
} }

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

@ -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_min_hz = DYN_LPF_GYRO_MIN_HZ_DEFAULT;
gyroConfig->dyn_lpf_gyro_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT; gyroConfig->dyn_lpf_gyro_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT;
gyroConfig->dyn_notch_max_hz = 600; gyroConfig->dyn_notch_max_hz = 600;
gyroConfig->dyn_notch_count = 1; gyroConfig->dyn_notch_count = 3;
gyroConfig->dyn_notch_bandwidth_hz = 45; gyroConfig->dyn_notch_q = 300;
gyroConfig->dyn_notch_min_hz = 150; gyroConfig->dyn_notch_min_hz = 150;
gyroConfig->gyro_filter_debug_axis = FD_ROLL; gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 5; gyroConfig->dyn_lpf_curve_expo = 5;

2
src/main/sensors/gyro.h
View file

@ -200,7 +200,7 @@ typedef struct gyroConfig_s {
uint16_t dyn_notch_max_hz; uint16_t dyn_notch_max_hz;
uint8_t dyn_notch_count; uint8_t dyn_notch_count;
uint16_t dyn_notch_bandwidth_hz; uint16_t dyn_notch_q;
uint16_t dyn_notch_min_hz; uint16_t dyn_notch_min_hz;
uint8_t gyro_filter_debug_axis; uint8_t gyro_filter_debug_axis;