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gyro & d-term filters: remove filtering options except biquad/pt1

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* through extensive testing prior to the beginning of the RC cycle, we have
  discovered that the simplest combination of filters appears to be up to four
  PT1 filters: two for gyro, and two for d-term.
* non-cascaded biquad filter plumbing is retained for noisy setups and the
  dynamic notch bandpass, although gyro and d-term variants of the filtering may
  eventually be removed in favor of pt1
* update all related unit tests
This commit is contained in:
AJ Christensen 2018-05-26 19:25:27 +12:00
parent 418fd4beaa
commit a63c8b0079
8 changed files with 28 additions and 531 deletions
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11
src/main/flight/pid.c
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@ -185,9 +185,6 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
typedef union dtermLowpass_u {
pt1Filter_t pt1Filter;
biquadFilter_t biquadFilter;
#if defined(USE_FIR_FILTER_DENOISE)
firFilterDenoise_t denoisingFilter;
#endif
} dtermLowpass_t;
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermNotchApplyFn;
@ -263,14 +260,6 @@ void pidInitFilters(const pidProfile_t *pidProfile)
biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, pidProfile->dterm_lowpass_hz, targetPidLooptime);
}
break;
#if defined(USE_FIR_FILTER_DENOISE)
case FILTER_FIR:
dtermLowpassApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
firFilterDenoiseInit(&dtermLowpass[axis].denoisingFilter, pidProfile->dterm_lowpass_hz, targetPidLooptime);
}
break;
#endif
}
}