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FILTER: Replace FIR by BiQuad by @borisbstyle. First implementation. Kept PT1 filter as it's used in navigation

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FILTER: BiQuad filter optimisations

FILTER: BiQuad filtering fix for REWRITE PID controller. Divide delta by dT before filtering to reduce delta noise caused by dT jitter and make things more correct from DSP point of view
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-01-30 19:54:45 +10:00
parent 852a452aca
commit 11cc82cf41
13 changed files with 207 additions and 190 deletions
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13
src/main/io/serial_cli.c
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@ -374,10 +374,6 @@ static const char * const lookupTableGyroLpf[] = {
"10HZ"
};
static const char * const lookupTableSoftFilter[] = {
"OFF", "LOW", "MEDIUM", "HIGH"
};
static const char * const lookupTableFailsafeProcedure[] = {
"SET-THR", "DROP", "RTH"
};
@ -413,7 +409,6 @@ typedef enum {
TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_SOFT_FILTER,
TABLE_GYRO_LPF,
TABLE_FAILSAFE_PROCEDURE,
#ifdef NAV
@ -438,7 +433,6 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableSoftFilter, sizeof(lookupTableSoftFilter) / sizeof(char *) },
{ lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) },
{ lookupTableFailsafeProcedure, sizeof(lookupTableFailsafeProcedure) / sizeof(char *) },
#ifdef NAV
@ -732,10 +726,9 @@ const clivalue_t valueTable[] = {
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 200 }, 0 },
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
{ "gyro_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
{ "acc_soft_lpf", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.acc_soft_lpf, .config.lookup = { TABLE_SOFT_FILTER }, 0 },
{ "dterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
{ "yaw_pterm_cut_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
{ "gyro_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gyro_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "acc_soft_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.acc_soft_lpf_hz, .config.minmax = {0, 200 } },
{ "dterm_lpf_hz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 200 } },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 }, 0 },