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Allow dyn lpf to initialize if static lpf config is 0.

Change min > max per review.

Fix missing ifdef.
This commit is contained in:
Kenneth Mitchell 2019-01-13 12:57:58 -05:00
parent 7f58ecc77f
commit f6e456cd06
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GPG key ID: E27133AAF586AB21
3 changed files with 35 additions and 9 deletions

View file

@ -195,6 +195,13 @@ static void validateAndFixConfig(void)
currentPidProfile->dterm_notch_hz = 0; currentPidProfile->dterm_notch_hz = 0;
} }
#ifdef USE_DYN_LPF
//PRevent invalid dynamic lowpass
if (currentPidProfile->dyn_lpf_dterm_min_hz > currentPidProfile->dyn_lpf_dterm_max_hz) {
currentPidProfile->dyn_lpf_dterm_min_hz = 0;
}
#endif
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) { if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureDisable(FEATURE_3D); featureDisable(FEATURE_3D);
@ -432,6 +439,12 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) { if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0; gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
} }
#ifdef USE_DYN_LPF
//Prevent invalid dynamic lowpass filter
if (gyroConfig()->dyn_lpf_gyro_min_hz > gyroConfig()->dyn_lpf_gyro_max_hz) {
gyroConfigMutable()->dyn_lpf_gyro_min_hz = 0;
}
#endif
if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) { if (gyroConfig()->gyro_hardware_lpf == GYRO_HARDWARE_LPF_1KHZ_SAMPLE) {
pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed pidConfigMutable()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed

View file

@ -315,14 +315,18 @@ void pidInitFilters(const pidProfile_t *pidProfile)
} }
//1st Dterm Lowpass Filter //1st Dterm Lowpass Filter
if (pidProfile->dterm_lowpass_hz == 0 || pidProfile->dterm_lowpass_hz > pidFrequencyNyquist) { uint16_t dterm_lowpass_hz = pidProfile->dterm_lowpass_hz;
dtermLowpassApplyFn = nullFilterApply;
} else { #ifdef USE_DYN_LPF
dterm_lowpass_hz = MAX(pidProfile->dterm_lowpass_hz, pidProfile->dyn_lpf_dterm_min_hz);
#endif
if (dterm_lowpass_hz > 0 && dterm_lowpass_hz < pidFrequencyNyquist) {
switch (pidProfile->dterm_filter_type) { switch (pidProfile->dterm_filter_type) {
case FILTER_PT1: case FILTER_PT1:
dtermLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply; dtermLowpassApplyFn = (filterApplyFnPtr)pt1FilterApply;
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
pt1FilterInit(&dtermLowpass[axis].pt1Filter, pt1FilterGain(pidProfile->dterm_lowpass_hz, dT)); pt1FilterInit(&dtermLowpass[axis].pt1Filter, pt1FilterGain(dterm_lowpass_hz, dT));
} }
break; break;
case FILTER_BIQUAD: case FILTER_BIQUAD:
@ -332,13 +336,15 @@ void pidInitFilters(const pidProfile_t *pidProfile)
dtermLowpassApplyFn = (filterApplyFnPtr)biquadFilterApply; dtermLowpassApplyFn = (filterApplyFnPtr)biquadFilterApply;
#endif #endif
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, pidProfile->dterm_lowpass_hz, targetPidLooptime); biquadFilterInitLPF(&dtermLowpass[axis].biquadFilter, dterm_lowpass_hz, targetPidLooptime);
} }
break; break;
default: default:
dtermLowpassApplyFn = nullFilterApply; dtermLowpassApplyFn = nullFilterApply;
break; break;
} }
} else {
dtermLowpassApplyFn = nullFilterApply;
} }
//2nd Dterm Lowpass Filter //2nd Dterm Lowpass Filter
@ -609,7 +615,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#endif #endif
#ifdef USE_DYN_LPF #ifdef USE_DYN_LPF
if (pidProfile->dyn_lpf_dterm_min_hz > 0 && pidProfile->dyn_lpf_dterm_max_hz > pidProfile->dyn_lpf_dterm_min_hz) { if (pidProfile->dyn_lpf_dterm_min_hz > 0) {
switch (pidProfile->dterm_filter_type) { switch (pidProfile->dterm_filter_type) {
case FILTER_PT1: case FILTER_PT1:
dynLpfFilter = DYN_LPF_PT1; dynLpfFilter = DYN_LPF_PT1;

View file

@ -578,7 +578,7 @@ static FAST_RAM_ZERO_INIT uint16_t dynLpfMax;
static void dynLpfFilterInit() static void dynLpfFilterInit()
{ {
if (gyroConfig()->dyn_lpf_gyro_min_hz > 0 && gyroConfig()->dyn_lpf_gyro_max_hz > gyroConfig()->dyn_lpf_gyro_min_hz) { if (gyroConfig()->dyn_lpf_gyro_min_hz > 0) {
switch (gyroConfig()->gyro_lowpass_type) { switch (gyroConfig()->gyro_lowpass_type) {
case FILTER_PT1: case FILTER_PT1:
dynLpfFilter = DYN_LPF_PT1; dynLpfFilter = DYN_LPF_PT1;
@ -736,11 +736,17 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
gyroInitSlewLimiter(gyroSensor); gyroInitSlewLimiter(gyroSensor);
#endif #endif
uint16_t gyro_lowpass_hz = gyroConfig()->gyro_lowpass_hz;
#ifdef USE_DYN_LPF
gyro_lowpass_hz = MAX(gyroConfig()->gyro_lowpass_hz, gyroConfig()->dyn_lpf_gyro_min_hz);
#endif
gyroInitLowpassFilterLpf( gyroInitLowpassFilterLpf(
gyroSensor, gyroSensor,
FILTER_LOWPASS, FILTER_LOWPASS,
gyroConfig()->gyro_lowpass_type, gyroConfig()->gyro_lowpass_type,
gyroConfig()->gyro_lowpass_hz gyro_lowpass_hz
); );
gyroInitLowpassFilterLpf( gyroInitLowpassFilterLpf(
@ -1244,8 +1250,8 @@ void dynLpfGyroUpdate(float throttle)
if (dynLpfFilter != DYN_LPF_NONE) { if (dynLpfFilter != DYN_LPF_NONE) {
const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * dynLpfMax, dynLpfMin); const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * dynLpfMax, dynLpfMin);
DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
if (dynLpfFilter == DYN_LPF_PT1) { if (dynLpfFilter == DYN_LPF_PT1) {
DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
const float gyroDt = gyro.targetLooptime * 1e-6f; const float gyroDt = gyro.targetLooptime * 1e-6f;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
#ifdef USE_MULTI_GYRO #ifdef USE_MULTI_GYRO
@ -1260,6 +1266,7 @@ void dynLpfGyroUpdate(float throttle)
#endif #endif
} }
} else if (dynLpfFilter == DYN_LPF_BIQUAD) { } else if (dynLpfFilter == DYN_LPF_BIQUAD) {
DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
#ifdef USE_MULTI_GYRO #ifdef USE_MULTI_GYRO
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) { if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1 || gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH) {