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https://github.com/ArduPilot/ardupilot
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Tools: FilterTool: update phase and intergration caculation and plot
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Iampete1
Andrew Tridgell
parent
a2b224e260
commit
1127ad2397
@ -261,52 +261,70 @@ function get_form(vname) {
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function run_filters(filters,freq,sample_rate,samples) {
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var integral_in = 0.0;
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var integral_out = 0.0;
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var crossing_in_i = 0;
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var crossing_sum = 0;
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var crossing_lag = 0;
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var crossing_count = 0;
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var last_in = 0.0;
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var last_out = 0.0;
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var last_t = 0.0;
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for (var j=0;j<filters.length; j++) {
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filters[j].reset(0.0);
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}
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for (var i=0;i<samples;i++) {
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var period = 1 / freq;
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// start integration at the closest multiple of period then
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// offset to get whole number of periods before end
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// (start and end at the same phase)
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// could use the lag estimate to further offset the filter integration time
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var int_start_time = Math.round(((0.1*samples)/sample_rate) / period) * period;
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var end_offset = (samples/sample_rate) % period;
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int_start_time += end_offset;
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for (var i=-0;i<samples;i++) {
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var t = i / sample_rate;
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var sample = Math.sin(t * Math.PI * 2.0 * freq);
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if (i > samples/10) {
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integral_in += Math.abs(sample);
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}
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if (sample >= 0 && last_in < 0) {
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crossing_in_i = i;
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}
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last_in = sample;
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var input = Math.sin(t * Math.PI * 2.0 * freq);
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var output = input;
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for (var j=0;j<filters.length; j++) {
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sample = filters[j].apply(sample);
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output = filters[j].apply(output);
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}
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if (i > samples/10) {
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integral_out += Math.abs(sample);
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if (t > int_start_time) {
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// RMS amplitude of input and output to calculate attenuation
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integral_in += Math.pow(input,2);
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integral_out += Math.pow(output,2);
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}
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if (sample >= 0 && last_out < 0) {
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crossing_sum += (i-crossing_in_i);
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if (output >= 0 && last_out < 0) {
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// positive going zero crossing, latest value is best estimate
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crossing_count ++;
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crossing_lag = linear_interpolate(last_t,t,0,last_out,output) - period*crossing_count;
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}
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last_out = sample;
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last_out = output;
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last_t = t;
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}
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var ratio = Math.sqrt(integral_out)/Math.sqrt(integral_in);
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var lag = 360.0 * crossing_lag * freq;
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// wrap to +- 180
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while (lag > 180.0) {
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lag -= 360.0;
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}
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while (lag < -180.0) {
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lag += 360.0;
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}
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var ratio = integral_out/integral_in;
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var avg_lag = crossing_sum / crossing_count;
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var lag = (360.0 * avg_lag * freq) / sample_rate;
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return [ratio,lag];
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}
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function linear_interpolate(low_output, high_output, var_value, var_low, var_high) {
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var p = (var_value - var_low) / (var_high - var_low);
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return low_output + p * (high_output - low_output);
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}
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var chart;
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function calculate_filter() {
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var sample_rate = get_form("GyroSampleRate");
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var filters = []
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var freq_max = get_form("MaxFreq");
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var samples = 100000;
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var freq_step = 1;
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var samples = 10000;
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var freq_step = 0.5;
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filters.push(new HarmonicNotchFilter(sample_rate,
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get_form("INS_HNTCH_ENABLE"),
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get_form("INS_HNTCH_MODE"),
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@ -330,51 +348,57 @@ function calculate_filter() {
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filters.push(new DigitalBiquadFilter(sample_rate,get_form("INS_GYRO_FILTER")));
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filters.push(new LPF_1P(sample_rate,get_form("FLTD")));
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var num_notches = 0;
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for (const f in filters) {
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if ('notches' in filters[f]) {
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num_notches += filters[f].notches.length;
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}
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}
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samples /= (num_notches+1);
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samples /= Math.max(1, freq_max/150.0);
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// console.log("samples: " + samples)
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var scale = document.getElementById("ScaleLog");
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var use_dB = scale.checked;
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var attenuation = []
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var phase_lag = []
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var min_phase_lag = 0.0;
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var max_phase_lag = 0.0;
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var phase_wrap = 0.0;
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var min_atten = 0.0;
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var max_atten = 1.0;
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var last_phase = 0.0;
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var atten_string = "Attenuation";
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if (use_dB) {
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max_atten = 0;
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min_atten = -10;
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atten_string = "Attenuation (dB)";
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}
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for (freq=1; freq<=freq_max; freq++) {
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// start at zero
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attenuation.push({x:0, y:0});
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phase_lag.push({x:0, y:0});
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for (freq=1; freq<=freq_max; freq+=freq_step) {
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var v = run_filters(filters, freq, sample_rate, samples);
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var aten = v[0];
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var phase = v[1] + phase_wrap;
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if (use_dB) {
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// show power in decibels
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aten = 20 * Math.log10(aten);
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} else {
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// attenuation is opposite of ratio
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aten = 1.0 - aten;
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}
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min_atten = Math.min(min_atten, aten);
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max_atten = Math.max(max_atten, aten);
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attenuation.push({x:freq, y:aten});
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var phase = v[1] + phase_wrap;
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if (phase < max_phase_lag-100) {
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// we have wrapped
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var phase_diff = phase - last_phase;
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if (phase_diff > 180) {
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phase_wrap -= 360.0;
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phase -= 360.0;
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} else if (phase_diff < -180) {
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phase_wrap += 360.0;
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phase += 360.0;
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}
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attenuation.push({x:freq, y:aten});
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phase_lag.push({x:freq, y:-phase});
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if (phase > max_phase_lag) {
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max_phase_lag = phase;
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}
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min_atten = Math.min(min_atten, aten);
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max_atten = Math.max(max_atten, aten);
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min_phase_lag = Math.min(min_phase_lag, phase)
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max_phase_lag = Math.max(max_phase_lag, phase)
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last_phase = phase;
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}
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min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
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min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0);
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max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
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max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag);
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if (chart) {
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@ -384,8 +408,9 @@ function calculate_filter() {
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chart.options.scales.yAxes[0].ticks.min = min_atten
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chart.options.scales.yAxes[0].ticks.max = max_atten;
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chart.options.scales.yAxes[0].scaleLabel.labelString = atten_string;
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chart.options.scales.yAxes[0].ticks.reverse = !use_dB;
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chart.options.scales.yAxes[1].ticks.min = -max_phase_lag;
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chart.options.scales.yAxes[1].ticks.max = 0;
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chart.options.scales.yAxes[1].ticks.max = -min_phase_lag;
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chart.update();
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} else {
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chart = new Chart("Attenuation", {
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@ -395,7 +420,8 @@ function calculate_filter() {
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{
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label: 'Attenuation',
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yAxisID: 'Attenuation',
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pointRadius: 4,
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pointRadius: 0,
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hitRadius: 8,
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borderColor: "rgba(0,0,255,1.0)",
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pointBackgroundColor: "rgba(0,0,255,1.0)",
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data: attenuation,
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@ -405,7 +431,8 @@ function calculate_filter() {
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{
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label: 'PhaseLag',
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yAxisID: 'PhaseLag',
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pointRadius: 4,
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pointRadius: 0,
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hitRadius: 8,
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borderColor: "rgba(255,0,0,1.0)",
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pointBackgroundColor: "rgba(255,0,0,1.0)",
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data: phase_lag,
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@ -422,13 +449,14 @@ function calculate_filter() {
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scaleLabel: { display: true, labelString: atten_string },
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id: 'Attenuation',
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position: 'left',
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ticks: {min:min_atten, max:max_atten, stepSize:0.1}
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ticks: {min:min_atten, max:max_atten, stepSize:0.1, reverse:!use_dB}
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},
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{
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scaleLabel: { display: true, labelString: "Phase Lag(deg)" },
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id: 'PhaseLag',
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position: 'right',
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ticks: {min:-max_phase_lag, max:0, stepSize:10}
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gridLines: {display:false},
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ticks: {min:-max_phase_lag, max:-min_phase_lag, stepSize:10}
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}
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],
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xAxes: [
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@ -437,7 +465,15 @@ function calculate_filter() {
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ticks: {min:0, max:freq_max, stepSize:10}
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}
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],
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}
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},
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tooltips: {
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callbacks: {
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label: function(tooltipItem, data) {
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// round tooltip to two decimal places
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return tooltipItem.xLabel.toFixed(2) + ', ' + tooltipItem.yLabel.toFixed(2);
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}
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}
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}
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}
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});
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}
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@ -52,7 +52,7 @@ ArduPilot 4.2 filter setup.
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<fieldset>
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<legend>PID Settings</legend>
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<p>
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<label for="FLTD">D Filter</label>
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<label for="FLTD">Roll D Filter</label>
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<input id="FLTD" name="FLTD" type="number" step="0.1" value="10.0"/>
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</p>
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</fieldset>
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