src/main/flight/dynamic_gyro_notch.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 <stdint.h>
  28 #include "common/axis.h"
  29 #include "common/filter.h"
  30
  31 #define DYNAMIC_NOTCH_DEFAULT_CENTER_HZ 350
  32
  33 typedef struct dynamicGyroNotchState_s {
  34     uint16_t frequency[XYZ_AXIS_COUNT];
  35     float dynNotchQ;
  36     float dynNotch1Ctr;
  37     float dynNotch2Ctr;
  38     uint32_t looptime;
  39     uint8_t enabled;
  40     /*
  41      * Dynamic gyro filter can be 3x1, 3x2 or 3x3 depending on filter type
  42      */
  43     biquadFilter_t filters[XYZ_AXIS_COUNT][XYZ_AXIS_COUNT];
  44     filterApplyFnPtr filtersApplyFn;
  45 } dynamicGyroNotchState_t;
  46
  47 void dynamicGyroNotchFiltersInit(dynamicGyroNotchState_t *state);
  48 void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, uint16_t frequency);
  49 float dynamicGyroNotchFiltersApply(dynamicGyroNotchState_t *state, int axis, float input);