Added a `USE_32K_CAPABLE_GYRO` define set in `common_fc_post.h` that replaces the repeated testing for each gyro define wherever 32KHz compatibility is checked.
The old gyro_lpf setting was based on the DLPF_CFG values for the MPU6050 gyro and the enumeration was inaccurate and misleading. For example, the default "OFF" setting did not disable the DLPF, but actually set it to around 250hz. The actual cutoff frequency for each setting varies by gyro hardware so the literal frequencies in the enumeration were also incorrect.
Removed gyro_lpf and replaced it with gyro_hardware_lpf (8KHz) and gyro_32khz_hardware_lpf (32KHz). The parameters were renamed to indicate that they are hardware filtering options to differentiate from the many software lowpass filtering options.
gyro_hardware_lpf - This parameter sets the filtering and sample rate options for 8KHz gyros (or 32KHz capable gyros running in 8KHz mode).
- NORMAL - default setting that is equivalent to the previous "OFF" setting. Configures 8KHz sampling with ~250Hz filter cutoff.
- EXPERIMENTAL - 8KHz sampling with a higher frequency filter cutoff (around 3000hz). Considerably more noisy and requires additional software filtering. Note that for the MPU6000 Invensense doesn't officially document the filter cutoff frequency for this selection and simply lists it as "reserved". In testing it's clear that a higher frequency filter cutoff is being selected due to the increased noise, but the actual cutoff frequency is unknown.
- 1KHZ_SAMPLING - 1KHz sample rate with and approximate 188Hz filter cutoff.
Note that the following additional 1KHz sample rate options with lower filter cutoffs have been eliminated - "98HZ", "42HZ", "20HZ", "10HZ", "5HZ". It seems unlikely that these are still needed are probably no longer viable and flight performance would be very poor.
gyro_32khz_hardware_lpf - This parameter sets the filtering options while running in 32KHz mode on capable gyros. It also exposes a new high frequency filter cutoff mode.
- NORMAL - The default and matches the current settings used for 32KHz mode. Provides a filter cutoff around 3000Hz.
- EXPERIMENTAL - Selects a filter cutoff around 8000Hz. This is a very noisy setting and will require substantial software filtering.
The default values for both 8KHz and 32KHz sample rates were chosen to match the previous defaults and users should not experience any performance differences.
Normalized the gyro initialization. Previously there was little consistency on how the initialization was performed and the settings interpreted. For example, MPU9250 used a completely different logic tree when configuring the registers.
Disconnected the literal parameter value from the gyro initialization. The gyro_lpf parameter contained a number from 0-7 that was literally applied to the configuration register during the gyro initialization. This caused some older gyro initializations to be incorrect as they used a different register layout (MPU3050 and L3G4200D). By transitioning to a logical selection the actual value applied to the hardware register is abstracted. This will better future-proof the design as new gyros may have a different register structure that may be incompatible with the old method.
Added a gyroregisters command to the CLI that is used to read the current register settings from the gyro and dump them to the CLI. This is used to verify the configuration in comparison to the datasheets for the various gyros. Testing empirically by looking at the relative noise from the gyros can give a rough estimate whether the different options are selecting correctly, but it's not very precise. The code for the gyroregisters CLI command is wrapped inside #ifdef USE_GYRO_REGISTER_DUMP blocks to allow easy disabling. It's currently enabled for all targets but we may decide to disable before release or only limit to targets with more available space (>=F4).
* Dual-stage Gyro Filtering: PT1, FKF, and Biquad RC+FIR2
* Builds on the previous work of apocolipse.
* Fixes 'stage2'/'stage1' mis-naming to reflect where it is applied in the loop.
That is, the older Biquad, PT1, Denoise (FIR) filters are 'stage2' - applied
after dynamic and static notches (if enabled), and the controversial PT1,
'fast Kalman' filter, and Biquad RC+FIR2 filters, are 'stage1'. e.g. before
dynamic notch.
* FKF bruteforce Kalman gain removed. Calculate from half of PT1 RC constant,
automatically taking loop-time into account.
* New union type definition for stage1 filtering.
* New gyro sensor members for stage1 filter application function and states for
all three supported filter types
* New enum types for stage1 v. stage2. dterm lowpass type references 'stage2'.
* updates to CMS/MSP/FC to allow compilation (untested, probably breaks
MSP, Lua, and ~comms with BFC~).
* Refactors FKF initialization, update and associated structures to be faster by
not continuously calculating 'k'. Filter gain is calculated once during
initialization from RC constant as per PT1 and Biquad RC+FIR2. It was
discovered this converges to static value within 100 samples at 32kHz, so can
be removed. Remove related interface (CLI) settings.
* update dterm_lowpass_type to use new 'TABLE_LOWPASS2_TYPE' (biquad/pt1/FIR)
* Stage 1 defaults to PT1, 763Hz (equivalent to Q400 / R88 from quasi-kalman
filter) - suitable for 32kHz sampling modes. Can be switched to Biquad
RC+FIR2, and FKF.
* Update `#if defined(USE_GYRO_SLEW_LIMITER) to `#ifdef`.
* Includes optional Lagged Moving Average 'smoothing' pipeline step, applied (in
code) after the output of stage1.
* (diehertz): Removed redundant pointers from gyro filtering
* blackbox: fix indentation
* cms IMU menu: fix indentation
* filters: remove USE_GYRO_FIR_FILTER_DENOISE in filter type enum
* gyro sensors: go back to `if defined()` form. for slew limiter
* gyro sensors: increment parameter group version
* due to non-appending changes, the version must be bumped.
* If RSSI Channel is set to Disabled when using S.Bus then generate RSSI signal using frame drop flags from the rx
* Set RSSI max level for S.Bus to 1024 so OSD defaults can be used
* Failsfafe must be detected rather than just reporting dropped frames
* Failsafe implies dropped frames
* Remove failsafe debug
* Use RSSI_SOURCE_RX_PROTOCOL
* Add rssi_from_rx_protocol to enable siqnal quality from rx to be processed as RSSI
* Use RSSI_MAX_VALUE definition
* Use rssi_from_rx_protocol flag for fport rx
* Update serialpassthrough help text
* Revert erroneous commit
* Use rssi_src_frame_errors boolean
* rssi_src_frame_errors = ON | OFF
* Moved rssi_src_frame_errors to end of rxConfig_t struct
* Add documentation of rssi_src_frame_errors
* Synthesise RX_FRAME_FAILSAFE flag to protect from bad implementation in receivers
* Match rx failsafe behaviour exactly
* Only set RX_FRAME_COMPLETE if valid frame is received
* RSSI_SOURCE_FRAME_ERRORS moved to end of rssiSource_e enum
* Removed superfluous else if clause
* Restore debug code
* Restore stateFlags
* Set RX_FRAME_DROPPED flag when failsafe is triggered
* Second PT1 on DTerm
This PR replaces the default biquad filter with a second PT1 set to
200Hz.
Basically allows the user to enable a second, set point configurable,
PT1 type first order low-pass filter on DTerm.
This is useful because most noise in most logs arises from D, not P.
The default is set to on, at twice the normal Dterm setpoint. This
provides greater Dterm cut than a single PT1, and twice the steepness
of cut above the second setpoint. Modelling shows significant
reductions in higher frequency Dterm noise with only minor additional
delay.
The improvement in noise performance will be less than for biquad, but
the delay is considerably less.
If with the default settings the overall noise improves a lot, it may
be possible bring D both filtering set points to higher numbers (e.g.
140/280), or alternatively remove other filters such as the notch
filters, while maintaining an adequate level of control over noise.
* Update names, old defaults, fix whitespace
Defaults restored to biquad with second PT1 off. ‘lpf’ retained as
abbreviation for values, otherwise generally remove ‘Filter’ where
redundant, replace ‘FilterLpf’ with ‘Lowpass’, etc, thanks Fujin and
DieHertz
* Remove underscore in lowpass_2, add hz to setpoint for lowpass
Thanks DieHertz
* completed replacing lpf with lowpass, added _hz to all lowpass set points in profile
Thanks DieHertz
* fix whitespace
fixed whitespace in settings.c
* whitespace attempt #57
* change lpf to lowpass where appropriate elsewhere
Note did not change OSD abbreviations, they are still LPF, and did not
change gyro_lpf anywhere.
* second attempt at a simple PT1 implementation
Basically copied from the DtermNotch implementation
* Second PT1 on DTerm
This PR replaces the default biquad filter with a second PT1 set to
200Hz.
Basically allows the user to enable a second, set point configurable,
PT1 type first order low-pass filter on DTerm.
This is useful because most noise in most logs arises from D, not P.
The default is set to on, at twice the normal Dterm setpoint. This
provides greater Dterm cut than a single PT1, and twice the steepness
of cut above the second setpoint. Modelling shows significant
reductions in higher frequency Dterm noise with only minor additional
delay.
The improvement in noise performance will be less than for biquad, but
the delay is considerably less.
If with the default settings the overall noise improves a lot, it may
be possible bring D both filtering set points to higher numbers (e.g.
140/280), or alternatively remove other filters such as the notch
filters, while maintaining an adequate level of control over noise.
* Rebase
* Remove underscore in lowpass_2, add hz to setpoint for lowpass
Thanks DieHertz
* completed replacing lpf with lowpass, added _hz to all lowpass set points in profile
Thanks DieHertz
* fix whitespace
fixed whitespace in settings.c
* whitespace attempt #57
* change lpf to lowpass where appropriate elsewhere
Note did not change OSD abbreviations, they are still LPF, and did not
change gyro_lpf anywhere.
* second attempt at a simple PT1 implementation
Basically copied from the DtermNotch implementation
* Whitespace fix - thanks, Ledvinap
* Fix PG issue
by moving added dterm_lowpass2_hz to bottom of struct
* Got rid of redundant indirection
* Fixed indentantion shifts
* Fix for minthrottle when feature 3d and pwm enabled
* add parameters for min and max 3d output
* bug fix
* remove new parameters from msp
* remove new parameters again
* fixed indentation
* Add ledstrip_grb_rgb setting (GRB or RGB) to handle WS2811 or WS2812 LED drivers
* Rename setting lookup table to lookupLedStripPackingOrder
* Fix call to ws2811UpdateStrip
* Fix unit test
* Use ledStripFormatRGB_e enumeration for RGB packing format
* Fix unit test
* Whoops. Make ledStripFormatRGB_e match lookupLedStripFormatRGB
* Applied review feedback
* Add documentation of ledstrip_grb_rgb
Allows the accelerometer calibration to be exported in a dump or diff and restored after upgrading.
The accelerometer calibration is specific to the frame and orientation in which the flight controller is installed. The users should have a way to restore a correct setting during upgrades without having to recalibrate after every flash. Replicates the way the magnetometer calibration is exported.
Added acc_calibration as an array type to the CLI. For consistency changed magnetometer representation from magzero_X, magzero_Y, magzero_Z to be a single array mag_calibration.
* CF/BF - Set STM32F7 SPI FAST clock to 13.5Mhz - Gyros not stable at
27mhz.
* CF/BF - Initial SPRacingF7DUAL commit.
Support two simultaneous gyro support (code by Dominic Clifton and Martin Budden)
There are new debug modes so you can see the difference between each gyro.
Notes:
* spi bus instance caching broke spi mpu detection because the detection
tries I2C first which overwrites the selected bus instance when using
dual gyro.
* ALL other dual-gyro boards have one sensor per bus. SPRacingF7DUAL is has two per bus and thus commit has a lot of changes to fix SPI/BUS/GYRO initialisation issues.
* CF/BF - Add SPRacingF4EVODG target.
This target adds a second gyro to the board using the SPI pads on the back of the board.
* CF/BF - Temporarily disable Gyro EXTI pin to allow NEO target to build.
Removed parameters runaway_takeoff_threshold (hardcode to 60) and runaway_takeoff_activate_delay (hardcode to 75). The previous default values worked well and required no tuning.
Enhance the deactivate logic to remove the R/P/Y stick activity condition once throttle reaches 2X runaway_takeoff_deactivate_throttle_percent. Additionally reduce the runaway_takeoff_deactivate_delay by 50% when throttle exceeds 75%.
* Previously we allowed the user to override from the Biquad RC+FIR2 to the FKF
impl. at compile time via `make OPTIONS=USE_GYRO_FAST_KALMAN`.
* This was regressed in PR #5144 / commit: 4dd65a2. Restores previous behavior.
* Generate 'k' per the code for the PT1
* Adjust function prototypes/functions to accept f_cut/dT where applicable
* Adjust gyro configuration, parameter group, interface settings to suit
Menu including:
- Voltage meter selection
- Current meter selection
- Max cell voltage (moved from MISC menu)
- Voltage scale adjust (moved from MISC menu)
- ADC current scale and offset adjust
- Virtual current scale and offset adjust
The previous logic used an absolute throttle value of 1350us which won't work in 3D mode and resulted in airmode being activated on arming. Renamed the parameter to airmode_start_throttle_percent and set the default to 32 (equivalent to what the previous setting of 1350 when min_check is taken into account).
To preserve MSP functionality the value is transformed to/from microsecond values (32 becomes 1320) when interfaced.
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
