src/main/sensors/gyro.c

   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 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24 #include <math.h>
  25 #include <stdlib.h>
  26
  27 #include "platform.h"
  28
  29 #include "build/debug.h"
  30
  31 #include "common/axis.h"
  32 #include "common/maths.h"
  33 #include "common/filter.h"
  34
  35 #include "config/feature.h"
  36 #include "config/simplified_tuning.h"
  37
  38 #include "pg/pg.h"
  39 #include "pg/pg_ids.h"
  40 #include "pg/gyrodev.h"
  41
  42 #include "drivers/bus_spi.h"
  43 #include "drivers/io.h"
  44
  45 #include "config/config.h"
  46 #include "fc/runtime_config.h"
  47
  48 #ifdef USE_DYN_NOTCH_FILTER
  49 #include "flight/dyn_notch_filter.h"
  50 #endif
  51 #include "flight/rpm_filter.h"
  52
  53 #include "io/beeper.h"
  54 #include "io/statusindicator.h"
  55
  56 #include "scheduler/scheduler.h"
  57
  58 #include "sensors/boardalignment.h"
  59 #include "sensors/gyro.h"
  60 #include "sensors/gyro_init.h"
  61
  62 #if ((TARGET_FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6500)))
  63 #define USE_GYRO_SLEW_LIMITER
  64 #endif
  65
  66 FAST_DATA_ZERO_INIT gyro_t gyro;
  67
  68 static FAST_DATA_ZERO_INIT bool overflowDetected;
  69 #ifdef USE_GYRO_OVERFLOW_CHECK
  70 static FAST_DATA_ZERO_INIT timeUs_t overflowTimeUs;
  71 #endif
  72
  73 #ifdef USE_YAW_SPIN_RECOVERY
  74 static FAST_DATA_ZERO_INIT bool yawSpinRecoveryEnabled;
  75 static FAST_DATA_ZERO_INIT int yawSpinRecoveryThreshold;
  76 static FAST_DATA_ZERO_INIT bool yawSpinDetected;
  77 static FAST_DATA_ZERO_INIT timeUs_t yawSpinTimeUs;
  78 #endif
  79
  80 static FAST_DATA_ZERO_INIT float gyroFilteredDownsampled[XYZ_AXIS_COUNT];
  81
  82 static FAST_DATA_ZERO_INIT int16_t gyroSensorTemperature;
  83
  84 FAST_DATA uint8_t activePidLoopDenom = 1;
  85
  86 static bool firstArmingCalibrationWasStarted = false;
  87
  88 #ifdef UNIT_TEST
  89 STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyro.gyroSensor1;
  90 STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyro.gyroSensor1.gyroDev;
  91 #endif
  92
  93
  94 #define DEBUG_GYRO_CALIBRATION 3
  95
  96 #define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980  // 97.5% full scale (1950dps for 2000dps gyro)
  97 #define GYRO_OVERFLOW_RESET_THRESHOLD 30340    // 92.5% full scale (1850dps for 2000dps gyro)
  98
  99 PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 9);
 100
 101 #ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
 102 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 103 #endif
 104
 105 void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
 106 {
 107     gyroConfig->gyroCalibrationDuration = 125;        // 1.25 seconds
 108     gyroConfig->gyroMovementCalibrationThreshold = 48;
 109     gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
 110     gyroConfig->gyro_lpf1_type = FILTER_PT1;
 111     gyroConfig->gyro_lpf1_static_hz = GYRO_LPF1_DYN_MIN_HZ_DEFAULT;
 112         // NOTE: dynamic lpf is enabled by default so this setting is actually
 113         // overridden and the static lowpass 1 is disabled. We can't set this
 114         // value to 0 otherwise Configurator versions 10.4 and earlier will also
 115         // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
 116     gyroConfig->gyro_lpf2_type = FILTER_PT1;
 117     gyroConfig->gyro_lpf2_static_hz = GYRO_LPF2_HZ_DEFAULT;
 118     gyroConfig->gyro_high_fsr = false;
 119     gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
 120     gyroConfig->gyro_soft_notch_hz_1 = 0;
 121     gyroConfig->gyro_soft_notch_cutoff_1 = 0;
 122     gyroConfig->gyro_soft_notch_hz_2 = 0;
 123     gyroConfig->gyro_soft_notch_cutoff_2 = 0;
 124     gyroConfig->checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES;
 125     gyroConfig->gyro_offset_yaw = 0;
 126     gyroConfig->yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO;
 127     gyroConfig->yaw_spin_threshold = 1950;
 128     gyroConfig->gyro_lpf1_dyn_min_hz = GYRO_LPF1_DYN_MIN_HZ_DEFAULT;
 129     gyroConfig->gyro_lpf1_dyn_max_hz = GYRO_LPF1_DYN_MAX_HZ_DEFAULT;
 130     gyroConfig->gyro_filter_debug_axis = FD_ROLL;
 131     gyroConfig->gyro_lpf1_dyn_expo = 5;
 132     gyroConfig->simplified_gyro_filter = true;
 133     gyroConfig->simplified_gyro_filter_multiplier = SIMPLIFIED_TUNING_DEFAULT;
 134 }
 135
 136 bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
 137 {
 138     return gyroSensor->calibration.cyclesRemaining == 0;
 139 }
 140
 141 bool gyroIsCalibrationComplete(void)
 142 {
 143     switch (gyro.gyroToUse) {
 144         default:
 145         case GYRO_CONFIG_USE_GYRO_1: {
 146             return isGyroSensorCalibrationComplete(&gyro.gyroSensor1);
 147         }
 148 #ifdef USE_MULTI_GYRO
 149         case GYRO_CONFIG_USE_GYRO_2: {
 150             return isGyroSensorCalibrationComplete(&gyro.gyroSensor2);
 151         }
 152         case GYRO_CONFIG_USE_GYRO_BOTH: {
 153             return isGyroSensorCalibrationComplete(&gyro.gyroSensor1) && isGyroSensorCalibrationComplete(&gyro.gyroSensor2);
 154         }
 155 #endif
 156     }
 157 }
 158
 159 static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
 160 {
 161     return gyroCalibration->cyclesRemaining == 1;
 162 }
 163
 164 static int32_t gyroCalculateCalibratingCycles(void)
 165 {
 166     return (gyroConfig()->gyroCalibrationDuration * 10000) / gyro.sampleLooptime;
 167 }
 168
 169 static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
 170 {
 171     return gyroCalibration->cyclesRemaining == gyroCalculateCalibratingCycles();
 172 }
 173
 174 static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
 175 {
 176 #if defined(USE_FAKE_GYRO) && !defined(UNIT_TEST)
 177     if (gyroSensor->gyroDev.gyroHardware == GYRO_FAKE) {
 178         gyroSensor->calibration.cyclesRemaining = 0;
 179         return;
 180     }
 181 #endif
 182     gyroSensor->calibration.cyclesRemaining = gyroCalculateCalibratingCycles();
 183 }
 184
 185 void gyroStartCalibration(bool isFirstArmingCalibration)
 186 {
 187     if (isFirstArmingCalibration && firstArmingCalibrationWasStarted) {
 188         return;
 189     }
 190
 191     gyroSetCalibrationCycles(&gyro.gyroSensor1);
 192 #ifdef USE_MULTI_GYRO
 193     gyroSetCalibrationCycles(&gyro.gyroSensor2);
 194 #endif
 195
 196     if (isFirstArmingCalibration) {
 197         firstArmingCalibrationWasStarted = true;
 198     }
 199 }
 200
 201 bool isFirstArmingGyroCalibrationRunning(void)
 202 {
 203     return firstArmingCalibrationWasStarted && !gyroIsCalibrationComplete();
 204 }
 205
 206 STATIC_UNIT_TESTED NOINLINE void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
 207 {
 208     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 209         // Reset g[axis] at start of calibration
 210         if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
 211             gyroSensor->calibration.sum[axis] = 0.0f;
 212             devClear(&gyroSensor->calibration.var[axis]);
 213             // gyroZero is set to zero until calibration complete
 214             gyroSensor->gyroDev.gyroZero[axis] = 0.0f;
 215         }
 216
 217         // Sum up CALIBRATING_GYRO_TIME_US readings
 218         gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
 219         devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
 220
 221         if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
 222             const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
 223             // DEBUG_GYRO_CALIBRATION records the standard deviation of roll
 224             // into the spare field - debug[3], in DEBUG_GYRO_RAW
 225             if (axis == X) {
 226                 DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
 227             }
 228
 229             // check deviation and startover in case the model was moved
 230             if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {
 231                 gyroSetCalibrationCycles(gyroSensor);
 232                 return;
 233             }
 234
 235             // please take care with exotic boardalignment !!
 236             gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
 237             if (axis == Z) {
 238               gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
 239             }
 240         }
 241     }
 242
 243     if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
 244         schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
 245         if (!firstArmingCalibrationWasStarted || (getArmingDisableFlags() & ~ARMING_DISABLED_CALIBRATING) == 0) {
 246             beeper(BEEPER_GYRO_CALIBRATED);
 247         }
 248     }
 249
 250     --gyroSensor->calibration.cyclesRemaining;
 251 }
 252
 253 #if defined(USE_GYRO_SLEW_LIMITER)
 254 FAST_CODE int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
 255 {
 256     int32_t ret = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
 257     if (gyroConfig()->checkOverflow || gyro.gyroHasOverflowProtection) {
 258         // don't use the slew limiter if overflow checking is on or gyro is not subject to overflow bug
 259         return ret;
 260     }
 261     if (abs(ret - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
 262         // there has been a large change in value, so assume overflow has occurred and return the previous value
 263         ret = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
 264     } else {
 265         gyroSensor->gyroDev.gyroADCRawPrevious[axis] = ret;
 266     }
 267     return ret;
 268 }
 269 #endif
 270
 271 #ifdef USE_GYRO_OVERFLOW_CHECK
 272 static FAST_CODE_NOINLINE void handleOverflow(timeUs_t currentTimeUs)
 273 {
 274     // This will need to be revised if we ever allow different sensor types to be
 275     // used simultaneously. In that case the scale might be different between sensors.
 276     // It's complicated by the fact that we're using filtered gyro data here which is
 277     // after both sensors are scaled and averaged.
 278     const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyro.scale;
 279
 280     if ((fabsf(gyro.gyroADCf[X]) < gyroOverflowResetRate)
 281           && (fabsf(gyro.gyroADCf[Y]) < gyroOverflowResetRate)
 282           && (fabsf(gyro.gyroADCf[Z]) < gyroOverflowResetRate)) {
 283         // if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected
 284         // reset requires good OK values on all axes
 285         if (cmpTimeUs(currentTimeUs, overflowTimeUs) > 50000) {
 286             overflowDetected = false;
 287         }
 288     } else {
 289         // not a consecutive OK value, so reset the overflow time
 290         overflowTimeUs = currentTimeUs;
 291     }
 292 }
 293
 294 static FAST_CODE_NOINLINE void checkForOverflow(timeUs_t currentTimeUs)
 295 {
 296     // check for overflow to handle Yaw Spin To The Moon (YSTTM)
 297     // ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
 298     // This can cause an overflow and sign reversal in the output.
 299     // Overflow and sign reversal seems to result in a gyro value of +1996 or -1996.
 300     if (overflowDetected) {
 301         handleOverflow(currentTimeUs);
 302     } else {
 303 #ifndef SIMULATOR_BUILD
 304         // check for overflow in the axes set in overflowAxisMask
 305         gyroOverflow_e overflowCheck = GYRO_OVERFLOW_NONE;
 306
 307         // This will need to be revised if we ever allow different sensor types to be
 308         // used simultaneously. In that case the scale might be different between sensors.
 309         // It's complicated by the fact that we're using filtered gyro data here which is
 310         // after both sensors are scaled and averaged.
 311         const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyro.scale;
 312
 313         if (fabsf(gyro.gyroADCf[X]) > gyroOverflowTriggerRate) {
 314             overflowCheck |= GYRO_OVERFLOW_X;
 315         }
 316         if (fabsf(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) {
 317             overflowCheck |= GYRO_OVERFLOW_Y;
 318         }
 319         if (fabsf(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) {
 320             overflowCheck |= GYRO_OVERFLOW_Z;
 321         }
 322         if (overflowCheck & gyro.overflowAxisMask) {
 323             overflowDetected = true;
 324             overflowTimeUs = currentTimeUs;
 325 #ifdef USE_YAW_SPIN_RECOVERY
 326             yawSpinDetected = false;
 327 #endif // USE_YAW_SPIN_RECOVERY
 328         }
 329 #endif // SIMULATOR_BUILD
 330     }
 331 }
 332 #endif // USE_GYRO_OVERFLOW_CHECK
 333
 334 #ifdef USE_YAW_SPIN_RECOVERY
 335 static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs)
 336 {
 337     const float yawSpinResetRate = yawSpinRecoveryThreshold - 100.0f;
 338     if (fabsf(gyro.gyroADCf[Z]) < yawSpinResetRate) {
 339         // testing whether 20ms of consecutive OK gyro yaw values is enough
 340         if (cmpTimeUs(currentTimeUs, yawSpinTimeUs) > 20000) {
 341             yawSpinDetected = false;
 342         }
 343     } else {
 344         // reset the yaw spin time
 345         yawSpinTimeUs = currentTimeUs;
 346     }
 347 }
 348
 349 static FAST_CODE_NOINLINE void checkForYawSpin(timeUs_t currentTimeUs)
 350 {
 351     // if not in overflow mode, handle yaw spins above threshold
 352 #ifdef USE_GYRO_OVERFLOW_CHECK
 353     if (overflowDetected) {
 354         yawSpinDetected = false;
 355         return;
 356     }
 357 #endif // USE_GYRO_OVERFLOW_CHECK
 358
 359     if (yawSpinDetected) {
 360         handleYawSpin(currentTimeUs);
 361     } else {
 362 #ifndef SIMULATOR_BUILD
 363         // check for spin on yaw axis only
 364          if (abs((int)gyro.gyroADCf[Z]) > yawSpinRecoveryThreshold) {
 365             yawSpinDetected = true;
 366             yawSpinTimeUs = currentTimeUs;
 367         }
 368 #endif // SIMULATOR_BUILD
 369     }
 370 }
 371 #endif // USE_YAW_SPIN_RECOVERY
 372
 373 static FAST_CODE void gyroUpdateSensor(gyroSensor_t *gyroSensor)
 374 {
 375     if (!gyroSensor->gyroDev.readFn(&gyroSensor->gyroDev)) {
 376         return;
 377     }
 378     gyroSensor->gyroDev.dataReady = false;
 379
 380     if (isGyroSensorCalibrationComplete(gyroSensor)) {
 381         // move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
 382
 383 #if defined(USE_GYRO_SLEW_LIMITER)
 384         gyroSensor->gyroDev.gyroADC[X] = gyroSlewLimiter(gyroSensor, X) - gyroSensor->gyroDev.gyroZero[X];
 385         gyroSensor->gyroDev.gyroADC[Y] = gyroSlewLimiter(gyroSensor, Y) - gyroSensor->gyroDev.gyroZero[Y];
 386         gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z];
 387 #else
 388         gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
 389         gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
 390         gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
 391 #endif
 392
 393         if (gyroSensor->gyroDev.gyroAlign == ALIGN_CUSTOM) {
 394             alignSensorViaMatrix(gyroSensor->gyroDev.gyroADC, &gyroSensor->gyroDev.rotationMatrix);
 395         } else {
 396             alignSensorViaRotation(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);
 397         }
 398     } else {
 399         performGyroCalibration(gyroSensor, gyroConfig()->gyroMovementCalibrationThreshold);
 400     }
 401 }
 402
 403 FAST_CODE void gyroUpdate(void)
 404 {
 405     switch (gyro.gyroToUse) {
 406     case GYRO_CONFIG_USE_GYRO_1:
 407         gyroUpdateSensor(&gyro.gyroSensor1);
 408         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor1)) {
 409             gyro.gyroADC[X] = gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale;
 410             gyro.gyroADC[Y] = gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale;
 411             gyro.gyroADC[Z] = gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale;
 412         }
 413         break;
 414 #ifdef USE_MULTI_GYRO
 415     case GYRO_CONFIG_USE_GYRO_2:
 416         gyroUpdateSensor(&gyro.gyroSensor2);
 417         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor2)) {
 418             gyro.gyroADC[X] = gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale;
 419             gyro.gyroADC[Y] = gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale;
 420             gyro.gyroADC[Z] = gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale;
 421         }
 422         break;
 423     case GYRO_CONFIG_USE_GYRO_BOTH:
 424         gyroUpdateSensor(&gyro.gyroSensor1);
 425         gyroUpdateSensor(&gyro.gyroSensor2);
 426         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor1) && isGyroSensorCalibrationComplete(&gyro.gyroSensor2)) {
 427             gyro.gyroADC[X] = ((gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 428             gyro.gyroADC[Y] = ((gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 429             gyro.gyroADC[Z] = ((gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 430         }
 431         break;
 432 #endif
 433     }
 434
 435     if (gyro.downsampleFilterEnabled) {
 436         // using gyro lowpass 2 filter for downsampling
 437         gyro.sampleSum[X] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[X], gyro.gyroADC[X]);
 438         gyro.sampleSum[Y] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[Y], gyro.gyroADC[Y]);
 439         gyro.sampleSum[Z] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[Z], gyro.gyroADC[Z]);
 440     } else {
 441         // using simple averaging for downsampling
 442         gyro.sampleSum[X] += gyro.gyroADC[X];
 443         gyro.sampleSum[Y] += gyro.gyroADC[Y];
 444         gyro.sampleSum[Z] += gyro.gyroADC[Z];
 445         gyro.sampleCount++;
 446     }
 447 }
 448
 449 #define GYRO_FILTER_FUNCTION_NAME filterGyro
 450 #define GYRO_FILTER_DEBUG_SET(mode, index, value) do { UNUSED(mode); UNUSED(index); UNUSED(value); } while (0)
 451 #define GYRO_FILTER_AXIS_DEBUG_SET(axis, mode, index, value) do { UNUSED(axis); UNUSED(mode); UNUSED(index); UNUSED(value); } while (0)
 452 #include "gyro_filter_impl.c"
 453 #undef GYRO_FILTER_FUNCTION_NAME
 454 #undef GYRO_FILTER_DEBUG_SET
 455 #undef GYRO_FILTER_AXIS_DEBUG_SET
 456
 457 #define GYRO_FILTER_FUNCTION_NAME filterGyroDebug
 458 #define GYRO_FILTER_DEBUG_SET DEBUG_SET
 459 #define GYRO_FILTER_AXIS_DEBUG_SET(axis, mode, index, value) if (axis == (int)gyro.gyroDebugAxis) DEBUG_SET(mode, index, value)
 460 #include "gyro_filter_impl.c"
 461 #undef GYRO_FILTER_FUNCTION_NAME
 462 #undef GYRO_FILTER_DEBUG_SET
 463 #undef GYRO_FILTER_AXIS_DEBUG_SET
 464
 465 FAST_CODE void gyroFiltering(timeUs_t currentTimeUs)
 466 {
 467     if (gyro.gyroDebugMode == DEBUG_NONE) {
 468         filterGyro();
 469     } else {
 470         filterGyroDebug();
 471     }
 472
 473 #ifdef USE_DYN_NOTCH_FILTER
 474     if (isDynNotchActive()) {
 475         dynNotchUpdate();
 476     }
 477 #endif
 478
 479     if (gyro.useDualGyroDebugging) {
 480         switch (gyro.gyroToUse) {
 481         case GYRO_CONFIG_USE_GYRO_1:
 482             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyro.gyroSensor1.gyroDev.gyroADCRaw[X]);
 483             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyro.gyroSensor1.gyroDev.gyroADCRaw[Y]);
 484             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale));
 485             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale));
 486             break;
 487
 488 #ifdef USE_MULTI_GYRO
 489         case GYRO_CONFIG_USE_GYRO_2:
 490             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyro.gyroSensor2.gyroDev.gyroADCRaw[X]);
 491             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyro.gyroSensor2.gyroDev.gyroADCRaw[Y]);
 492             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale));
 493             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale));
 494             break;
 495
 496     case GYRO_CONFIG_USE_GYRO_BOTH:
 497             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyro.gyroSensor1.gyroDev.gyroADCRaw[X]);
 498             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyro.gyroSensor1.gyroDev.gyroADCRaw[Y]);
 499             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyro.gyroSensor2.gyroDev.gyroADCRaw[X]);
 500             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyro.gyroSensor2.gyroDev.gyroADCRaw[Y]);
 501             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale));
 502             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale));
 503             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale));
 504             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale));
 505             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 0, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale)));
 506             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale)));
 507             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale)));
 508             break;
 509 #endif
 510         }
 511     }
 512
 513 #ifdef USE_GYRO_OVERFLOW_CHECK
 514     if (gyroConfig()->checkOverflow && !gyro.gyroHasOverflowProtection) {
 515         checkForOverflow(currentTimeUs);
 516     }
 517 #endif
 518
 519 #ifdef USE_YAW_SPIN_RECOVERY
 520     if (yawSpinRecoveryEnabled) {
 521         checkForYawSpin(currentTimeUs);
 522     }
 523 #endif
 524
 525     if (!overflowDetected) {
 526         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 527             gyroFilteredDownsampled[axis] = pt1FilterApply(&gyro.imuGyroFilter[axis], gyro.gyroADCf[axis]);
 528         }
 529     }
 530
 531 #if !defined(USE_GYRO_OVERFLOW_CHECK) && !defined(USE_YAW_SPIN_RECOVERY)
 532     UNUSED(currentTimeUs);
 533 #endif
 534 }
 535
 536 float gyroGetFilteredDownsampled(int axis)
 537 {
 538     return gyroFilteredDownsampled[axis];
 539 }
 540
 541 int16_t gyroReadSensorTemperature(gyroSensor_t gyroSensor)
 542 {
 543     if (gyroSensor.gyroDev.temperatureFn) {
 544         gyroSensor.gyroDev.temperatureFn(&gyroSensor.gyroDev, &gyroSensor.gyroDev.temperature);
 545     }
 546     return gyroSensor.gyroDev.temperature;
 547 }
 548
 549 void gyroReadTemperature(void)
 550 {
 551     switch (gyro.gyroToUse) {
 552     case GYRO_CONFIG_USE_GYRO_1:
 553         gyroSensorTemperature = gyroReadSensorTemperature(gyro.gyroSensor1);
 554         break;
 555
 556 #ifdef USE_MULTI_GYRO
 557     case GYRO_CONFIG_USE_GYRO_2:
 558         gyroSensorTemperature = gyroReadSensorTemperature(gyro.gyroSensor2);
 559         break;
 560
 561     case GYRO_CONFIG_USE_GYRO_BOTH:
 562         gyroSensorTemperature = MAX(gyroReadSensorTemperature(gyro.gyroSensor1), gyroReadSensorTemperature(gyro.gyroSensor2));
 563         break;
 564 #endif // USE_MULTI_GYRO
 565     }
 566 }
 567
 568 int16_t gyroGetTemperature(void)
 569 {
 570     return gyroSensorTemperature;
 571 }
 572
 573 bool gyroOverflowDetected(void)
 574 {
 575 #ifdef USE_GYRO_OVERFLOW_CHECK
 576     return overflowDetected;
 577 #else
 578     return false;
 579 #endif // USE_GYRO_OVERFLOW_CHECK
 580 }
 581
 582 #ifdef USE_YAW_SPIN_RECOVERY
 583 bool gyroYawSpinDetected(void)
 584 {
 585     return yawSpinDetected;
 586 }
 587 #endif // USE_YAW_SPIN_RECOVERY
 588
 589 uint16_t gyroAbsRateDps(int axis)
 590 {
 591     return fabsf(gyro.gyroADCf[axis]);
 592 }
 593
 594 #ifdef USE_DYN_LPF
 595
 596 float dynThrottle(float throttle)
 597 {
 598     return throttle * (1 - (throttle * throttle) / 3.0f) * 1.5f;
 599 }
 600
 601 void dynLpfGyroUpdate(float throttle)
 602 {
 603     if (gyro.dynLpfFilter != DYN_LPF_NONE) {
 604         float cutoffFreq;
 605         if (gyro.dynLpfCurveExpo > 0) {
 606             cutoffFreq = dynLpfCutoffFreq(throttle, gyro.dynLpfMin, gyro.dynLpfMax, gyro.dynLpfCurveExpo);
 607         } else {
 608             cutoffFreq = fmaxf(dynThrottle(throttle) * gyro.dynLpfMax, gyro.dynLpfMin);
 609         }
 610         DEBUG_SET(DEBUG_DYN_LPF, 2, lrintf(cutoffFreq));
 611         const float gyroDt = gyro.targetLooptime * 1e-6f;
 612         switch (gyro.dynLpfFilter) {
 613         case DYN_LPF_PT1:
 614             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 615                 pt1FilterUpdateCutoff(&gyro.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
 616             }
 617             break;
 618         case DYN_LPF_BIQUAD:
 619             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 620                 biquadFilterUpdateLPF(&gyro.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
 621             }
 622             break;
 623         case  DYN_LPF_PT2:
 624             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 625                 pt2FilterUpdateCutoff(&gyro.lowpassFilter[axis].pt2FilterState, pt2FilterGain(cutoffFreq, gyroDt));
 626             }
 627             break;
 628         case DYN_LPF_PT3:
 629             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 630                 pt3FilterUpdateCutoff(&gyro.lowpassFilter[axis].pt3FilterState, pt3FilterGain(cutoffFreq, gyroDt));
 631             }
 632             break;
 633         }
 634     }
 635 }
 636 #endif
 637
 638 #ifdef USE_YAW_SPIN_RECOVERY
 639 void initYawSpinRecovery(int maxYawRate)
 640 {
 641     bool enabledFlag;
 642     int threshold;
 643
 644     switch (gyroConfig()->yaw_spin_recovery) {
 645     case YAW_SPIN_RECOVERY_ON:
 646         enabledFlag = true;
 647         threshold = gyroConfig()->yaw_spin_threshold;
 648         break;
 649     case YAW_SPIN_RECOVERY_AUTO:
 650         enabledFlag = true;
 651         const int overshootAllowance = MAX(maxYawRate / 4, 200); // Allow a 25% or minimum 200dps overshoot tolerance
 652         threshold = constrain(maxYawRate + overshootAllowance, YAW_SPIN_RECOVERY_THRESHOLD_MIN, YAW_SPIN_RECOVERY_THRESHOLD_MAX);
 653         break;
 654     case YAW_SPIN_RECOVERY_OFF:
 655     default:
 656         enabledFlag = false;
 657         threshold = YAW_SPIN_RECOVERY_THRESHOLD_MAX;
 658         break;
 659     }
 660
 661     yawSpinRecoveryEnabled = enabledFlag;
 662     yawSpinRecoveryThreshold = threshold;
 663 }
 664 #endif