src/main/flight/rpm_filter.h

   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 #pragma once
  26
  27 #include "config/parameter_group.h"
  28 #include "common/time.h"
  29
  30 typedef struct rpmFilterConfig_s {
  31     uint8_t gyro_filter_enabled;
  32     uint8_t dterm_filter_enabled;
  33
  34     uint8_t  gyro_harmonics;
  35     uint8_t  gyro_min_hz;
  36     uint16_t gyro_q;
  37
  38     uint8_t  dterm_harmonics;
  39     uint8_t  dterm_min_hz;
  40     uint16_t dterm_q;
  41
  42 } rpmFilterConfig_t;
  43
  44 PG_DECLARE(rpmFilterConfig_t, rpmFilterConfig);
  45
  46 #define RPM_FILTER_UPDATE_RATE_HZ 500
  47 #define RPM_FILTER_UPDATE_RATE_US (1000000.0f / RPM_FILTER_UPDATE_RATE_HZ)
  48
  49 void disableRpmFilters(void);
  50 void rpmFiltersInit(void);
  51 void rpmFilterUpdateTask(timeUs_t currentTimeUs);
  52 float rpmFilterGyroApply(uint8_t axis, float input);