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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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16
src/main/interface/settings.c
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@ -265,22 +265,11 @@ static const char * const lookupTableRcInterpolationChannels[] = {
static const char * const lookupTableLowpassType[] = {
"PT1",
"BIQUAD",
#if defined(USE_FIR_FILTER_DENOISE)
"FIR",
#else
NULL,
#endif
"BUTTERWORTH",
"BIQUAD_RC_FIR2",
"FAST_KALMAN"
};
static const char * const lookupTableDtermLowpassType[] = {
"PT1",
"BIQUAD",
#if defined(USE_FIR_FILTER_DENOISE)
"FIR"
#endif
};
@ -436,20 +425,15 @@ const clivalue_t valueTable[] = {
{ "gyro_lowpass_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_type) },
{ "gyro_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz) },
{ "gyro_lowpass_order", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, GYRO_LPF_ORDER_MAX}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_order) },
{ "gyro_lowpass2_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
{ "gyro_lowpass2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz) },
{ "gyro_lowpass2_order", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, GYRO_LPF_ORDER_MAX}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_order) },
{ "gyro_notch1_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_1) },
{ "gyro_notch1_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_1) },
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
{ "gyro_lma_depth", VAR_UINT8 | MASTER_VALUE, .config.minmax = {0, 11}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lma_depth)},
{ "gyro_lma_weight", VAR_UINT8 | MASTER_VALUE, .config.minmax = {0, 100}, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lma_weight)},
{ "gyro_calib_duration", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 3000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroCalibrationDuration) },
{ "gyro_calib_noise_limit", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
{ "gyro_offset_yaw", VAR_INT16 | MASTER_VALUE, .config.minmax = { -1000, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_offset_yaw) },