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Added tracking of multiple dynamic notches per axis and replaced FFT with SDFT

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This commit is contained in:
KarateBrot 2020-09-22 18:15:06 +02:00
parent 7b46440056
commit d02af7334c
16 changed files with 504 additions and 326 deletions
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28
src/main/msp/msp.c
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@ -1770,9 +1770,9 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#endif
// Added in MSP API 1.42
#if defined(USE_GYRO_DATA_ANALYSE)
sbufWriteU8(dst, 0); // DEPRECATED 1.43: dyn_notch_range
sbufWriteU8(dst, gyroConfig()->dyn_notch_width_percent);
sbufWriteU16(dst, gyroConfig()->dyn_notch_q);
sbufWriteU8(dst, 0); // DEPRECATED 1.43: dyn_notch_range
sbufWriteU8(dst, 0); // DEPRECATED 1.44: dyn_notch_width_percent
sbufWriteU16(dst, 0); // DEPRECATED 1.44: dyn_notch_q
sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz);
#else
sbufWriteU8(dst, 0);
@ -1799,6 +1799,13 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#else
sbufWriteU8(dst, 0);
#endif
#if defined(USE_GYRO_DATA_ANALYSE)
sbufWriteU8(dst, gyroConfig()->dyn_notch_count);
sbufWriteU16(dst, gyroConfig()->dyn_notch_bandwidth_hz);
#else
sbufWriteU8(dst, 0);
sbufWriteU16(dst, 0);
#endif
break;
case MSP_PID_ADVANCED:
@ -2635,9 +2642,9 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
if (sbufBytesRemaining(src) >= 8) {
// Added in MSP API 1.42
#if defined(USE_GYRO_DATA_ANALYSE)
sbufReadU8(src); // DEPRECATED: dyn_notch_range
gyroConfigMutable()->dyn_notch_width_percent = sbufReadU8(src);
gyroConfigMutable()->dyn_notch_q = sbufReadU16(src);
sbufReadU8(src); // DEPRECATED 1.43: dyn_notch_range
sbufReadU8(src); // DEPRECATED 1.44: dyn_notch_width_percent
sbufReadU16(src); // DEPRECATED 1.44: dyn_notch_q
gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src);
#else
sbufReadU8(src);
@ -2661,12 +2668,19 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU16(src);
#endif
}
if (sbufBytesRemaining(src) >= 1) {
if (sbufBytesRemaining(src) >= 4) {
// Added in MSP API 1.44
#if defined(USE_DYN_LPF)
currentPidProfile->dyn_lpf_curve_expo = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
#if defined(USE_GYRO_DATA_ANALYSE)
gyroConfigMutable()->dyn_notch_count = sbufReadU8(src);
gyroConfigMutable()->dyn_notch_bandwidth_hz = sbufReadU16(src);
#else
sbufReadU8(src);
sbufReadU16(src);
#endif
}