src/main/flight/gyroanalyse.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdint.h>
  24
  25 #include "common/axis.h"
  26
  27 #define DYN_NOTCH_COUNT_MAX 5
  28
  29 typedef struct gyroAnalyseState_s {
  30
  31     // accumulator for oversampled data => no aliasing and less noise
  32     uint8_t sampleCount;
  33     uint8_t maxSampleCount;
  34     float maxSampleCountRcp;
  35     float oversampledGyroAccumulator[XYZ_AXIS_COUNT];
  36
  37     // downsampled gyro data for frequency analysis
  38     float downsampledGyroData[XYZ_AXIS_COUNT];
  39
  40     // update state machine step information
  41     uint8_t updateTicks;
  42     uint8_t updateStep;
  43     uint8_t updateAxis;
  44
  45     float centerFreq[XYZ_AXIS_COUNT][DYN_NOTCH_COUNT_MAX];
  46
  47 } gyroAnalyseState_t;
  48
  49 void gyroDataAnalyseInit(gyroAnalyseState_t *state, const uint32_t targetLooptimeUs);
  50 void gyroDataAnalysePush(gyroAnalyseState_t *state, const int axis, const float sample);
  51 void gyroDataAnalyse(gyroAnalyseState_t *state);
  52 uint16_t getMaxFFT(void);
  53 void resetMaxFFT(void);