Rename gyro filters

src/main/blackbox/blackbox.c

@@ -1723,9 +1723,8 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("deadband", "%d",                        rcControlsConfig()->deadband);
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                    rcControlsConfig()->yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                        gyroConfig()->gyro_lpf);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d",                     gyroConfig()->gyro_soft_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d",                     gyroConfig()->gyro_main_lpf_hz);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d",                   gyroConfig()->gyro_soft_lpf_type);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_type", "%d",                   gyroConfig()->gyro_main_lpf_type);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf2_hz", "%d",                    gyroConfig()->gyro_stage2_lowpass_hz);
 #ifdef USE_DYNAMIC_FILTERS
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchRange", "%d",           gyroConfig()->dynamicGyroNotchRange);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);
@@ -1755,7 +1754,6 @@ static bool blackboxWriteSysinfo(void)
 #endif
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_hz", "%d",                    accelerometerConfig()->acc_notch_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_notch_cutoff", "%d",                accelerometerConfig()->acc_notch_cutoff);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_stage2_lowpass_hz", "%d",          gyroConfig()->gyro_stage2_lowpass_hz);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d",                     pidProfile()->pidSumLimit);
         BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d",                  pidProfile()->pidSumLimitYaw);
         BLACKBOX_PRINT_HEADER_LINE("axisAccelerationLimitYaw", "%d",        pidProfile()->axisAccelerationLimitYaw);

src/main/cms/cms_menu_imu.c

@@ -402,8 +402,7 @@ static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
 {
     OSD_LABEL_DATA_ENTRY("-- FILTERING  --", profileIndexString),
     OSD_SETTING_ENTRY("HARDWARE LPF", SETTING_GYRO_HARDWARE_LPF),
-    OSD_SETTING_ENTRY("GYRO LPF", SETTING_GYRO_LPF_HZ),
+    OSD_SETTING_ENTRY("GYRO MAIN", SETTING_GYRO_MAIN_LPF_HZ),
-    OSD_SETTING_ENTRY("GYRO LPF2", SETTING_GYRO_STAGE2_LOWPASS_HZ),
     OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ),
     OSD_SETTING_ENTRY("DTERM LPF2", SETTING_DTERM_LPF2_HZ),
 #ifdef USE_DYNAMIC_FILTERS

src/main/fc/fc_msp.c

@@ -1233,7 +1233,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_FILTER_CONFIG :
-        sbufWriteU8(dst, gyroConfig()->gyro_soft_lpf_hz);
+        sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
         sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
         sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
         sbufWriteU16(dst, gyroConfig()->gyro_notch_hz);
@@ -1247,7 +1247,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, accelerometerConfig()->acc_notch_hz);
         sbufWriteU16(dst, accelerometerConfig()->acc_notch_cutoff);
 
-        sbufWriteU16(dst, gyroConfig()->gyro_stage2_lowpass_hz);
+        sbufWriteU16(dst, 0);    //Was gyroConfig()->gyro_stage2_lowpass_hz
         break;
 
     case MSP_PID_ADVANCED:
@@ -2171,7 +2171,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_FILTER_CONFIG :
         if (dataSize >= 5) {
-            gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
+            gyroConfigMutable()->gyro_main_lpf_hz = sbufReadU8(src);
             pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
             pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
             if (dataSize >= 9) {
@@ -2202,7 +2202,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             }
 
             if (dataSize >= 22) {
-                gyroConfigMutable()->gyro_stage2_lowpass_hz = constrain(sbufReadU16(src), 0, 500);
+                sbufReadU16(src); //Was gyro_stage2_lowpass_hz
             } else {
                 return MSP_RESULT_ERROR;
             }

src/main/fc/settings.yaml

@@ -207,15 +207,15 @@ groups:
         default_value: "256HZ"
         field: gyro_lpf
         table: gyro_lpf
-      - name: gyro_lpf_hz
+      - name: gyro_anti_aliasing_lpf_hz
-        description: "Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value."
+        description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
-        default_value: 60
+        default_value: 250
-        field: gyro_soft_lpf_hz
+        field: gyro_anti_aliasing_lpf_hz
-        max: 200
+        max: 255
-      - name: gyro_lpf_type
+      - name: gyro_anti_aliasing_lpf_type
-        description: "Specifies the type of the software LPF of the gyro signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds."
+        description: "Specifies the type of the software LPF of the gyro signals."
-        default_value: "BIQUAD"
+        default_value: "PT1"
-        field: gyro_soft_lpf_type
+        field: gyro_anti_aliasing_lpf_type
         table: filter_type
       - name: moron_threshold
         description: "When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered."
@@ -231,16 +231,16 @@ groups:
         min: 1
         max: 500
         default_value: 1
-      - name: gyro_stage2_lowpass_hz
+      - name: gyro_main_lpf_hz
-        description: "Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz)"
+        description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
-        default_value: 0
+        default_value: 60
-        field: gyro_stage2_lowpass_hz
+        field: gyro_main_lpf_hz
         min: 0
         max: 500
-      - name: gyro_stage2_lowpass_type
+      - name: gyro_main_lpf_type
-        description: "Defines the type of stage 2 gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
+        description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
         default_value: BIQUAD
-        field: gyro_stage2_lowpass_type
+        field: gyro_main_lpf_type
         table: filter_type
       - name: gyro_use_dyn_lpf
         description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."

src/main/io/osd_dji_hd.c

@@ -1188,7 +1188,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
             break;
 
         case DJI_MSP_FILTER_CONFIG:
-            sbufWriteU8(dst, gyroConfig()->gyro_soft_lpf_hz);           // BF: gyroConfig()->gyro_lowpass_hz
+            sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);           // BF: gyroConfig()->gyro_lowpass_hz
             sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);              // BF: currentPidProfile->dterm_lowpass_hz
             sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);                // BF: currentPidProfile->yaw_lowpass_hz
             sbufWriteU16(dst, gyroConfig()->gyro_notch_hz);             // BF: gyroConfig()->gyro_soft_notch_hz_1
@@ -1200,8 +1200,8 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
             sbufWriteU8(dst, 0);                                        // BF: currentPidProfile->dterm_filter_type
             sbufWriteU8(dst, gyroConfig()->gyro_lpf);                   // BF: gyroConfig()->gyro_hardware_lpf);
             sbufWriteU8(dst, 0);                                        // BF: DEPRECATED: gyro_32khz_hardware_lpf
-            sbufWriteU16(dst, gyroConfig()->gyro_soft_lpf_hz);          // BF: gyroConfig()->gyro_lowpass_hz);
+            sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz);          // BF: gyroConfig()->gyro_lowpass_hz);
-            sbufWriteU16(dst, gyroConfig()->gyro_stage2_lowpass_hz);    // BF: gyroConfig()->gyro_lowpass2_hz);
+            sbufWriteU16(dst, 0);                                       // BF: gyroConfig()->gyro_lowpass2_hz);
             sbufWriteU8(dst, 0);                                        // BF: gyroConfig()->gyro_lowpass_type);
             sbufWriteU8(dst, 0);                                        // BF: gyroConfig()->gyro_lowpass2_type);
             sbufWriteU16(dst, 0);                                       // BF: currentPidProfile->dterm_lowpass2_hz);

src/main/sensors/gyro.c

@@ -115,8 +115,8 @@ PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 13);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
-    .gyro_soft_lpf_hz = SETTING_GYRO_LPF_HZ_DEFAULT,
+    .gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT,
-    .gyro_soft_lpf_type = SETTING_GYRO_LPF_TYPE_DEFAULT,
+    .gyro_anti_aliasing_lpf_type = SETTING_GYRO_ANTI_ALIASING_LPF_TYPE_DEFAULT,
     .gyro_align = SETTING_ALIGN_GYRO_DEFAULT,
     .gyroMovementCalibrationThreshold = SETTING_MORON_THRESHOLD_DEFAULT,
     .looptime = SETTING_LOOPTIME_DEFAULT,
@@ -125,8 +125,8 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
 #endif
     .gyro_notch_hz = SETTING_GYRO_NOTCH_HZ_DEFAULT,
     .gyro_notch_cutoff = SETTING_GYRO_NOTCH_CUTOFF_DEFAULT,
-    .gyro_stage2_lowpass_hz = SETTING_GYRO_STAGE2_LOWPASS_HZ_DEFAULT,
+    .gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT,
-    .gyro_stage2_lowpass_type = SETTING_GYRO_STAGE2_LOWPASS_TYPE_DEFAULT,
+    .gyro_main_lpf_type = SETTING_GYRO_MAIN_LPF_TYPE_DEFAULT,
     .useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT,
     .gyroDynamicLpfMinHz = SETTING_GYRO_DYN_LPF_MIN_HZ_DEFAULT,
     .gyroDynamicLpfMaxHz = SETTING_GYRO_DYN_LPF_MAX_HZ_DEFAULT,
@@ -287,10 +287,10 @@ static void gyroInitFilters(void)
     notchFilter1ApplyFn = nullFilterApply;
     
     //First gyro LPF running at full gyro frequency 8kHz
-    initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_soft_lpf_type, gyroConfig()->gyro_soft_lpf_hz, getGyroLooptime());
+    initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_type, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
     
     //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
-    initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_stage2_lowpass_type, gyroConfig()->gyro_stage2_lowpass_hz, getLooptime());
+    initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_type, gyroConfig()->gyro_main_lpf_hz, getLooptime());
 
     //Static Gyro notch running and PID frequency
     if (gyroConfig()->gyro_notch_hz) {
@@ -577,11 +577,11 @@ int16_t gyroRateDps(int axis)
 }
 
 void gyroUpdateDynamicLpf(float cutoffFreq) {
-    if (gyroConfig()->gyro_soft_lpf_type == FILTER_PT1) {
+    if (gyroConfig()->gyro_main_lpf_type == FILTER_PT1) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
             pt1FilterUpdateCutoff(&gyroLpf2State[axis].pt1, cutoffFreq);
         }
-    } else if (gyroConfig()->gyro_soft_lpf_type == FILTER_BIQUAD) {
+    } else if (gyroConfig()->gyro_main_lpf_type == FILTER_BIQUAD) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
             biquadFilterUpdate(&gyroLpf2State[axis].biquad, cutoffFreq, getLooptime(), BIQUAD_Q, FILTER_LPF);
         }

src/main/sensors/gyro.h

@@ -63,15 +63,15 @@ typedef struct gyroConfig_s {
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
     uint16_t looptime;                      // imu loop time in us
     uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
-    uint8_t  gyro_soft_lpf_hz;
+    uint8_t  gyro_anti_aliasing_lpf_hz;
-    uint8_t  gyro_soft_lpf_type;
+    uint8_t  gyro_anti_aliasing_lpf_type;
 #ifdef USE_DUAL_GYRO
     uint8_t  gyro_to_use;
 #endif
     uint16_t gyro_notch_hz;
     uint16_t gyro_notch_cutoff;
-    uint16_t gyro_stage2_lowpass_hz;
+    uint16_t gyro_main_lpf_hz;
-    uint8_t gyro_stage2_lowpass_type;
+    uint8_t gyro_main_lpf_type;
     uint8_t useDynamicLpf;
     uint16_t gyroDynamicLpfMinHz;
     uint16_t gyroDynamicLpfMaxHz;

src/main/target/FALCORE/config.c

@@ -60,7 +60,7 @@ void targetConfiguration(void)
 
     gyroConfigMutable()->looptime = 1000;
     gyroConfigMutable()->gyro_lpf = 0;              // 256 Hz
-    gyroConfigMutable()->gyro_soft_lpf_hz = 90;
+    gyroConfigMutable()->gyro_main_lpf_hz = 90;
     gyroConfigMutable()->gyro_notch_hz = 150;
     gyroConfigMutable()->gyro_notch_cutoff = 80;