* Introduce CLI parameter gyro_filter_debug_axis which defaults to 'ROLL',
the previous behavior. When set to either PITCH, or YAW, the debug logging
implementation in the gyro filtering will use that axis instead.
Bypass the numerous dual-gyro DEBUG_SET statements unless a related debug_mode is set. The dual-gyro debugging is rarely used so in most cases all of the statements can be bypassed. Saves 1-2% CPU load on SPRACINGF7DUAL running in `gyro_to_use = BOTH` and at 32K.
Since the gyro overflow and yaw-spin logic uses filtered gyro data they need to be after the filter application.
Currently the logic is before causing it to operate on one sample old data. This won't prevent the logic from working and it's not a critical fix, but it's better to have the checks after the filtering.
Fixes instances of hardcoded gyroSensor1 in the status functions for overflow detection, yaw spin detection, and the sensor temperature reading.
Also fixes non-reentrant code in gyroUpdateSensor() that would not behave properly when gyro_to_use = BOTH
warning:
In file included from ./src/main/sensors/gyro.c:1022:0:
./src/main/sensors/gyro_filter_impl.h: In function 'filterGyro':
./src/main/sensors/gyro_filter_impl.h:18:15: warning: variable 'gyroDataForAnalysis' set but not used
1. User can set sampling rate to suit expected range of frequencies:
- HIGH suits 4" or smaller and 6S 5"
- MEDIUM suits classic 5" 4S
- LOW is for 6" or greater
Limits automatically scaled:
HIGH : 133/166 to 1000Hz, MEDIUM : 89/111 to 666Hz, LOW : 67/83 to 500Hz
2. Bandpass entirely eliminated, not needed.
3. True peak detection method, favouring first peak to exceed 80% of maximum bin height; ignore or threshold values not required.
Improves on earlier 3.5RC1 dynamic filter with:
- better FFT tracking performance overall, even with a narrower default notch width
- can reach 850Hz for high kV 2.5-3" and 6S quads
- works better with 32k gyros
- can be applied pre- (location 1) and post- (location 2) static filters. Pre-static filter location works best, but post-static may work well in 32k modes or with PT1 option
- option to use a PT1 filter rather than the classical notch filter, perhaps useful for quads with a lot of noise above their peak.
- ability to totally bypass the pre-FFT bandpass filter, by setting Q=0, maximising the range of responsiveness
- "ignore" value, absolute FFT bin amplitude below which the bin will be excluded from consideration. May be tweaked to optimise peak detection; primarily for advanced tuners. If too high, only the very peaks will be included, if too low, noise may clutter peak detection.
- "threshold" value for peak detection, which, when divided by 10, is the multiple by which one bin must exceed the previous one for peak detection to commence. If too low, FFT detection becomes more random, if too high, no peaks are detected.
For gyro loops from 2K to < 4K scale the FFT_SAMPLING_RATE_HZ to ensure we get 3 samples.
Also constrain the `centerFreq` result from the lowpass to ensure it doesn't overshoot beyond the min/max notch center cutoff.
Improves dynamic filter operation by providing a wider sampling window due to the higher gyro loop rate.
Makes the dynamic more useful by default on targets like SPRACINGF3.
Improves performance of the dynamic notch filter, increasing peak accuracy over a wider band of frequencies, and generally using a narrower, higher notch.
Details:
- FFT now operates on gyro data *after* gyro notches and lowpasses
- FFT bandpass Q changed from 0.707 to 0.05, to 'open up' the FFT to a greater range of incoming frequencies
- FFT centre output now ranges from about 130 to 666Hz.
- ignore the lowest couple of FFT bins going into centre frequency calculation
- analyse FFT bins from low to high, keep ignoring bins until a bin is found that exceeds its previous bin by a factor of 2; then start examining bins from the bin before that (stops the FFT from being biased low, or going to the lowest value if there is no notch at all).
- if no bin exceeds previous by more than 2 times, ie no obvious peak, smoothly go to maximum allowed notch frequency to avoid delay (might be better to bypass filter altogether?)
- dominant bin emphasised by cubing bin height before calculating mean
- maximum cutoff frequency is half the highest allowable centre frequency
- default notch width is +/-25% of centre, narrower than before most of the time
- code tidied up
- thanks to rav, Flint, UAV Tech, icr4sh, diehertz and everyone else who helped with this.
* will require coordination with BFC of course.
* rationale: previously `DEBUG_GYRO_NOTCH` debugging was used to grab the
scaled, unfiltered gyro readings, prior to the FFT running. This has been
updated to `DEBUG_GYRO_SCALED`.
similarly, `DEBUG_GYRO` debugging was used to record the filtered gyro. This
is updated to `GYRO_FILTERED`.
interestingly, `DEBUG_GYRO` was also used for movement threshold calibration.
This has been updated to be `DEBUG_GYRO_CALIBRATION` and also now stores
per-axis standard deviation.
Application of filter position moved slightly for logical grouping, has no
effect due to LTI.
* 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
Gryo calibration period can be configured in 1/100 second intervals using `gyro_calib_duration` (default is 125 or 1.25 seconds).
Renamed the `moron_threshold` parameter to `gyro_calib_noise_limit`. Functionally it is unchanged.
