src/main/flight/secondary_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 #include <stdint.h>
  30 #include "secondary_dynamic_gyro_notch.h"
  31 #include "fc/config.h"
  32 #include "build/debug.h"
  33 #include "sensors/gyro.h"
  34
  35 #define SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ 150
  36
  37 void secondaryDynamicGyroNotchFiltersInit(secondaryDynamicGyroNotchState_t *state) {
  38
  39     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
  40         state->filtersApplyFn[axis] = nullFilterApply;
  41     }
  42
  43     state->dynNotchQ = gyroConfig()->dynamicGyroNotch3dQ / 100.0f;
  44     state->enabled = gyroConfig()->dynamicGyroNotchMode != DYNAMIC_NOTCH_MODE_2D;
  45     state->looptime = getLooptime();
  46
  47     if (gyroConfig()->dynamicGyroNotchMode == DYNAMIC_NOTCH_MODE_3D) {
  48         /*
  49          * Enable ROLL filter
  50          */
  51         biquadFilterInit(&state->filters[FD_ROLL], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
  52         state->filtersApplyFn[FD_ROLL] = (filterApplyFnPtr)biquadFilterApplyDF1;
  53
  54         /*
  55          * Enable PITCH filter
  56          */
  57         biquadFilterInit(&state->filters[FD_PITCH], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
  58         state->filtersApplyFn[FD_PITCH] = (filterApplyFnPtr)biquadFilterApplyDF1;
  59
  60         /*
  61          * Enable YAW filter
  62          */
  63         biquadFilterInit(&state->filters[FD_YAW], SECONDARY_DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
  64         state->filtersApplyFn[FD_YAW] = (filterApplyFnPtr)biquadFilterApplyDF1;
  65     }
  66 }
  67
  68 void secondaryDynamicGyroNotchFiltersUpdate(secondaryDynamicGyroNotchState_t *state, int axis, float frequency[]) {
  69
  70     if (state->enabled) {
  71
  72         /*
  73          * The secondary dynamic notch uses only the first detected frequency
  74          * The rest of peaks are ignored
  75          */
  76         state->frequency[axis] = frequency[0];
  77
  78         // Filter update happens only if peak was detected
  79         if (frequency[0] > 0.0f) {
  80             biquadFilterUpdate(&state->filters[axis], state->frequency[axis], state->looptime, state->dynNotchQ, FILTER_NOTCH);
  81         }
  82     }
  83 }
  84
  85 float secondaryDynamicGyroNotchFiltersApply(secondaryDynamicGyroNotchState_t *state, int axis, float input) {
  86     return state->filtersApplyFn[axis]((filter_t *)&state->filters[axis], input);
  87 }
  88
  89 #endif