src/main/flight/dynamic_gyro_notch.c

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_DYNAMIC_FILTERS
  28
  29 FILE_COMPILE_FOR_SPEED
  30
  31 #include <stdint.h>
  32 #include "dynamic_gyro_notch.h"
  33 #include "fc/config.h"
  34 #include "build/debug.h"
  35 #include "sensors/gyro.h"
  36
  37 void dynamicGyroNotchFiltersInit(dynamicGyroNotchState_t *state) {
  38
  39     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  40         for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
  41             state->filtersApplyFn[axis][i] = nullFilterApply;
  42         }
  43     }
  44
  45     state->dynNotchQ = gyroConfig()->dynamicGyroNotchQ / 100.0f;
  46     state->enabled = gyroConfig()->dynamicGyroNotchEnabled;
  47     state->looptime = getLooptime();
  48
  49     if (state->enabled) {
  50         /*
  51          * Step 1 - init all filters even if they will not be used further down the road
  52          */
  53         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  54             //Any initial notch Q is valid sice it will be updated immediately after
  55             for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
  56                 biquadFilterInit(&state->filters[axis][i], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
  57                 state->filtersApplyFn[axis][i] = (filterApplyFnPtr)biquadFilterApplyDF1;
  58             }
  59
  60         }
  61
  62     }
  63 }
  64
  65 void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, float frequency[]) {
  66
  67     if (state->enabled) {
  68         for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
  69
  70             state->frequency[axis][i] = frequency[i];
  71
  72             // Filter update happens only if peak was detected
  73             if (frequency[i] > 0.0f) {
  74                 biquadFilterUpdate(&state->filters[axis][i], frequency[i], state->looptime, state->dynNotchQ, FILTER_NOTCH);
  75             }
  76         }
  77     }
  78 }
  79
  80 float dynamicGyroNotchFiltersApply(dynamicGyroNotchState_t *state, int axis, float input) {
  81     float output = input;
  82
  83     /*
  84      * We always apply all filters. If a filter dimension is disabled, one of
  85      * the function pointers will be a null apply function
  86      */
  87     for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
  88         output = state->filtersApplyFn[axis][i]((filter_t *)&state->filters[axis][i], output);
  89     }
  90
  91     return output;
  92 }
  93
  94 #endif