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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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8
src/main/sensors/gyro.c
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@ -98,7 +98,7 @@ STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyro.gyroSensor1.gyroDev;
#define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980 // 97.5% full scale (1950dps for 2000dps gyro)
#define GYRO_OVERFLOW_RESET_THRESHOLD 30340 // 92.5% full scale (1850dps for 2000dps gyro)
PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8);
PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 9);
#ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
@ -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_max_hz = DYN_LPF_GYRO_MAX_HZ_DEFAULT;
gyroConfig->dyn_notch_max_hz = 600;
gyroConfig->dyn_notch_width_percent = 8;
gyroConfig->dyn_notch_q = 120;
gyroConfig->dyn_notch_count = 1;
gyroConfig->dyn_notch_bandwidth_hz = 45;
gyroConfig->dyn_notch_min_hz = 150;
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
gyroConfig->dyn_lpf_curve_expo = 5;
@ -484,7 +484,7 @@ FAST_CODE void gyroFiltering(timeUs_t currentTimeUs)
#ifdef USE_GYRO_DATA_ANALYSE
if (isDynamicFilterActive()) {
gyroDataAnalyse(&gyro.gyroAnalyseState, gyro.notchFilterDyn, gyro.notchFilterDyn2);
gyroDataAnalyse(&gyro.gyroAnalyseState);
}
#endif