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fix/add USE_GYRO_LPF2 gating #935

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merged 5 commits into from
Oct 26, 2023
Merged

fix/add USE_GYRO_LPF2 gating #935

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ce02255
add Gyro LPF2 type to OSD
nerdCopter Oct 25, 2023
974e2f1
fix/add USE_GYRO_LPF2 gating
nerdCopter Oct 25, 2023
9be0498
Merge remote-tracking branch 'emuflight/master' into 20231025_add_Gyr…
nerdCopter Oct 25, 2023
c36a851
Merge branch '20231025_add_Gyro_LPF2_type_to_OSD' into 20231025_fix_g…
nerdCopter Oct 25, 2023
2d2f647
Merge remote-tracking branch 'emuflight/master' into 20231025_fix_gat…
nerdCopter Oct 26, 2023
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2 changes: 2 additions & 0 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1229,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) {
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d", gyroConfig()->gyro_lowpass_hz[ROLL]);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d", gyroConfig()->gyro_lowpass_hz[PITCH]);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d", gyroConfig()->gyro_lowpass_hz[YAW]);
#ifdef USE_GYRO_LPF2
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d", gyroConfig()->gyro_lowpass2_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d", gyroConfig()->gyro_lowpass2_hz[ROLL]);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d", gyroConfig()->gyro_lowpass2_hz[PITCH]);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d", gyroConfig()->gyro_lowpass2_hz[YAW]);
#endif
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1,
gyroConfig()->gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
Expand Down
6 changes: 6 additions & 0 deletions src/main/cms/cms_menu_imu.c
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Expand Up @@ -493,10 +493,12 @@ static uint8_t gyroConfig_gyro_lowpass1_type;
static uint16_t gyroConfig_gyro_lowpass_hz_roll;
static uint16_t gyroConfig_gyro_lowpass_hz_pitch;
static uint16_t gyroConfig_gyro_lowpass_hz_yaw;
#ifdef USE_GYRO_LPF2
static uint8_t gyroConfig_gyro_lowpass2_type;
static uint16_t gyroConfig_gyro_lowpass2_hz_roll;
static uint16_t gyroConfig_gyro_lowpass2_hz_pitch;
static uint16_t gyroConfig_gyro_lowpass2_hz_yaw;
#endif
#ifdef USE_GYRO_DATA_ANALYSE
static uint16_t gyroConfig_gyro_q;
static uint8_t gyroConfig_gyro_notch_count;
Expand Down Expand Up @@ -525,10 +527,12 @@ static long cmsx_menuGyro_onEnter(void) {
gyroConfig_gyro_lowpass_hz_roll = gyroConfig()->gyro_lowpass_hz[ROLL];
gyroConfig_gyro_lowpass_hz_pitch = gyroConfig()->gyro_lowpass_hz[PITCH];
gyroConfig_gyro_lowpass_hz_yaw = gyroConfig()->gyro_lowpass_hz[YAW];
#ifdef USE_GYRO_LPF2
gyroConfig_gyro_lowpass2_type = gyroConfig()->gyro_lowpass2_type;
gyroConfig_gyro_lowpass2_hz_roll = gyroConfig()->gyro_lowpass2_hz[ROLL];
gyroConfig_gyro_lowpass2_hz_pitch = gyroConfig()->gyro_lowpass2_hz[PITCH];
gyroConfig_gyro_lowpass2_hz_yaw = gyroConfig()->gyro_lowpass2_hz[YAW];
#endif
#ifdef USE_GYRO_DATA_ANALYSE
gyroConfig_gyro_q = gyroConfig()->dyn_notch_q;
gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count;
Expand Down Expand Up @@ -560,10 +564,12 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = gyroConfig_gyro_lowpass_hz_roll;
gyroConfigMutable()->gyro_lowpass_hz[PITCH] = gyroConfig_gyro_lowpass_hz_pitch;
gyroConfigMutable()->gyro_lowpass_hz[YAW] = gyroConfig_gyro_lowpass_hz_yaw;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_type = gyroConfig_gyro_lowpass2_type;
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = gyroConfig_gyro_lowpass2_hz_roll;
gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = gyroConfig_gyro_lowpass2_hz_pitch;
gyroConfigMutable()->gyro_lowpass2_hz[YAW] = gyroConfig_gyro_lowpass2_hz_yaw;
#endif
#ifdef USE_GYRO_DATA_ANALYSE
gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q;
gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count;
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20 changes: 20 additions & 0 deletions src/main/interface/msp.c
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Expand Up @@ -1194,11 +1194,21 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]);
#ifdef USE_GYRO_LPF2
sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]);
sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]);
#else
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
sbufWriteU16(dst, 0);
#endif
sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
#ifdef USE_GYRO_LPF2
sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
#else
sbufWriteU8(dst, 0);
#endif
sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2);
sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2);
sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2);
Expand Down Expand Up @@ -1823,11 +1833,21 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass_hz[PITCH] = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass_hz[YAW] = sbufReadU16(src);
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = sbufReadU16(src);
gyroConfigMutable()->gyro_lowpass2_hz[YAW] = sbufReadU16(src);
#else
sbufReadU16(src);
sbufReadU16(src);
sbufReadU16(src);
#endif
gyroConfigMutable()->gyro_lowpass_type = sbufReadU8(src);
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_type = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
currentPidProfile->dFilter[ROLL].dLpf2 = sbufReadU16(src);
currentPidProfile->dFilter[PITCH].dLpf2 = sbufReadU16(src);
currentPidProfile->dFilter[YAW].dLpf2 = sbufReadU16(src);
Expand Down
2 changes: 2 additions & 0 deletions src/main/interface/settings.c
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Expand Up @@ -513,10 +513,12 @@ const clivalue_t valueTable[] = {
{ "gyro_lowpass_hz_pitch", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) },
{ "gyro_lowpass_hz_yaw", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) },

#ifdef USE_GYRO_LPF2
{ "gyro_lowpass2_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
{ "gyro_lowpass2_hz_roll", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) },
{ "gyro_lowpass2_hz_pitch", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) },
{ "gyro_lowpass2_hz_yaw", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) },
#endif

{ "gyro_abg_alpha", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) },
{ "gyro_abg_boost", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) },
Expand Down
10 changes: 10 additions & 0 deletions src/main/sensors/gyro.c
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Expand Up @@ -158,8 +158,10 @@ typedef struct gyroSensor_s {
gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT];

// lowpass2 gyro soft filter
#ifdef USE_GYRO_LPF2
filterApplyFnPtr lowpass2FilterApplyFn;
gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT];
#endif

// ABG filter
filterApplyFnPtr gyroABGFilterApplyFn;
Expand Down Expand Up @@ -236,10 +238,12 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lowpass_hz[ROLL] = 0,
.gyro_lowpass_hz[PITCH] = 0,
.gyro_lowpass_hz[YAW] = 0,
#ifdef USE_GYRO_LPF2
.gyro_lowpass2_type = FILTER_PT1,
.gyro_lowpass2_hz[ROLL] = 0,
.gyro_lowpass2_hz[PITCH] = 0,
.gyro_lowpass2_hz[YAW] = 0,
#endif
.gyro_high_fsr = false,
.gyro_use_32khz = true,
.gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
Expand Down Expand Up @@ -289,10 +293,12 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.gyro_lowpass_hz[ROLL] = 115,
.gyro_lowpass_hz[PITCH] = 115,
.gyro_lowpass_hz[YAW] = 105,
#ifdef USE_GYRO_LPF2
.gyro_lowpass2_type = FILTER_PT1,
.gyro_lowpass2_hz[ROLL] = 0,
.gyro_lowpass2_hz[PITCH] = 0,
.gyro_lowpass2_hz[YAW] = 0,
#endif
.gyro_high_fsr = false,
.gyro_use_32khz = false,
.gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT,
Expand Down Expand Up @@ -749,13 +755,15 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
lpfHz[PITCH] = gyroConfig()->gyro_lowpass_hz[PITCH];
lpfHz[YAW] = gyroConfig()->gyro_lowpass_hz[YAW];
break;
#ifdef USE_GYRO_LPF2
case FILTER_LOWPASS2:
lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn;
lowpassFilter = gyroSensor->lowpass2Filter;
lpfHz[ROLL] = gyroConfig()->gyro_lowpass2_hz[ROLL];
lpfHz[PITCH] = gyroConfig()->gyro_lowpass2_hz[PITCH];
lpfHz[YAW] = gyroConfig()->gyro_lowpass2_hz[YAW];
break;
#endif
default:
return;
}
Expand Down Expand Up @@ -894,11 +902,13 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor) {
FILTER_LOWPASS,
gyroConfig()->gyro_lowpass_type
);
#ifdef USE_GYRO_LPF2
gyroInitLowpassFilterLpf(
gyroSensor,
FILTER_LOWPASS2,
gyroConfig()->gyro_lowpass2_type
);
#endif
gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
#ifdef USE_GYRO_DATA_ANALYSE
Expand Down
4 changes: 4 additions & 0 deletions src/main/sensors/gyro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -132,7 +132,9 @@ typedef struct gyroConfig_s {
uint8_t gyro_to_use;

uint16_t gyro_lowpass_hz[XYZ_AXIS_COUNT];
#ifdef USE_GYRO_LPF2
uint16_t gyro_lowpass2_hz[XYZ_AXIS_COUNT];
#endif

uint16_t gyro_ABG_alpha;
uint16_t gyro_ABG_boost;
Expand All @@ -147,7 +149,9 @@ typedef struct gyroConfig_s {

// Lowpass primary/secondary
uint8_t gyro_lowpass_type;
#ifdef USE_GYRO_LPF2
uint8_t gyro_lowpass2_type;
#endif

uint8_t yaw_spin_recovery;
int16_t yaw_spin_threshold;
Expand Down
2 changes: 2 additions & 0 deletions src/main/sensors/gyro_filter_impl.h
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Expand Up @@ -36,7 +36,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) {
#endif

// apply static notch filters and software lowpass filters
#ifdef USE_GYRO_LPF2
gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
#endif
gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
Expand Down
2 changes: 2 additions & 0 deletions src/main/target/NBDBBBLV2/config.c
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Expand Up @@ -168,9 +168,11 @@ void targetConfiguration(void)
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
#endif
gyroConfigMutable()->yaw_spin_threshold = 1950;
rxConfigMutable()->mincheck = 1075;
rxConfigMutable()->maxcheck = 1900;
Expand Down
2 changes: 2 additions & 0 deletions src/main/target/NBDBBBLV3/config.c
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Expand Up @@ -168,9 +168,11 @@ void targetConfiguration(void)
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
#endif
gyroConfigMutable()->yaw_spin_threshold = 1950;
rxConfigMutable()->mincheck = 1075;
rxConfigMutable()->maxcheck = 1900;
Expand Down
2 changes: 2 additions & 0 deletions src/main/target/NBDHMBF41S/config.c
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Expand Up @@ -114,7 +114,9 @@ void targetConfiguration(void)

gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
gyroConfigMutable()->gyro_lowpass_hz = 200;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz = 200;
#endif
gyroConfigMutable()->yaw_spin_threshold = 1950;
gyroConfigMutable()->dyn_lpf_gyro_min_hz = 160;
gyroConfigMutable()->dyn_lpf_gyro_max_hz = 400;
Expand Down
2 changes: 2 additions & 0 deletions src/main/target/NBDHMBF4PRO/config.c
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Expand Up @@ -149,9 +149,11 @@ void targetConfiguration(void) {
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
#endif
gyroConfigMutable()->yaw_spin_threshold = 1950;
// gyroConfigMutable()->dyn_lpf_gyro_min_hz = 200;
// gyroConfigMutable()->dyn_lpf_gyro_max_hz = 500;
Expand Down
2 changes: 2 additions & 0 deletions src/test/unit/sensor_gyro_unittest.cc
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Expand Up @@ -116,7 +116,9 @@ TEST(SensorGyro, Update)
pgResetAll();
// turn off filters
gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 0;
#ifdef USE_GYRO_LPF2
gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 0;
#endif
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroInit();
Expand Down
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