src/main/flight/rpm_filter.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 "common/axis.h"
  24 #include "pg/pg.h"
  25
  26 typedef struct rpmFilterConfig_s
  27 {
  28     uint8_t  gyro_rpm_notch_harmonics;     // how many harmonics should be covered with notches? 0 means filter off
  29     uint8_t  gyro_rpm_notch_min;           // minimum frequency of the notches
  30     uint16_t gyro_rpm_notch_fade_range_hz; // range in which to gradually turn off notches down to minHz
  31     uint16_t gyro_rpm_notch_q;             // q of the notches
  32
  33     uint16_t rpm_lpf;                      // the cutoff of the lpf on reported motor rpm
  34 } rpmFilterConfig_t;
  35
  36 PG_DECLARE(rpmFilterConfig_t, rpmFilterConfig);
  37
  38 void  rpmFilterInit(const rpmFilterConfig_t *config);
  39 float rpmFilterGyro(const int axis, float value);
  40 void  rpmFilterUpdate();
  41 bool isRpmFilterEnabled(void);
  42 float rpmMinMotorFrequency();