Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: filterTool: add pahse scale option

Browse Source
This commit is contained in:
Iampete1 2022-08-12 19:48:04 +01:00 committed by Andrew Tridgell
parent 4e8c68064a
commit 6ab9e4a2b2
2 changed files with 59 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
Tools/autotest/web-firmware/Tools/FilterTool/filters.js
View File

@ -402,6 +402,8 @@ function calculate_filter() {
setCookie("Scale", use_dB ? "Log" : "Linear"); setCookie("Scale", use_dB ? "Log" : "Linear");
var use_RPM = document.getElementById("freq_Scale_RPM").checked; var use_RPM = document.getElementById("freq_Scale_RPM").checked;
setCookie("feq_unit", use_RPM ? "RPM" : "Hz"); setCookie("feq_unit", use_RPM ? "RPM" : "Hz");
var unwrap_pahse = document.getElementById("ScaleUnWrap").checked;
setCookie("PhaseScale", unwrap_pahse ? "unwrap" : "wrap");
var attenuation = [] var attenuation = []
var phase_lag = [] var phase_lag = []
var min_phase_lag = 0.0; var min_phase_lag = 0.0;
@ -437,13 +439,15 @@ function calculate_filter() {
if (use_RPM) { if (use_RPM) {
freq_value *= 60; freq_value *= 60;
} }
var phase_diff = phase - last_phase; if (unwrap_pahse) {
if (phase_diff > 180) { var phase_diff = phase - last_phase;
phase_wrap -= 360.0; if (phase_diff > 180) {
phase -= 360.0; phase_wrap -= 360.0;
} else if (phase_diff < -180) { phase -= 360.0;
phase_wrap += 360.0; } else if (phase_diff < -180) {
phase += 360.0; phase_wrap += 360.0;
phase += 360.0;
}
} }
attenuation.push({x:freq_value, y:aten}); attenuation.push({x:freq_value, y:aten});
phase_lag.push({x:freq_value, y:-phase}); phase_lag.push({x:freq_value, y:-phase});
@ -454,10 +458,16 @@ function calculate_filter() {
max_phase_lag = Math.max(max_phase_lag, phase) max_phase_lag = Math.max(max_phase_lag, phase)
last_phase = phase; last_phase = phase;
} }
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0); if (unwrap_pahse) {
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10; min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag); min_phase_lag = Math.min(Math.max(-get_form("MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("MaxPhaseLag"), max_phase_lag);
} else {
min_phase_lag = -180;
max_phase_lag = 180;
}
if (use_RPM) { if (use_RPM) {
freq_max *= 60.0; freq_max *= 60.0;
@ -640,6 +650,8 @@ function calculate_pid(axis_id) {
setCookie("PID_Scale", use_dB ? "Log" : "Linear"); setCookie("PID_Scale", use_dB ? "Log" : "Linear");
var use_RPM = document.getElementById("PID_freq_Scale_RPM").checked; var use_RPM = document.getElementById("PID_freq_Scale_RPM").checked;
setCookie("PID_feq_unit", use_RPM ? "RPM" : "Hz"); setCookie("PID_feq_unit", use_RPM ? "RPM" : "Hz");
var unwrap_pahse = document.getElementById("PID_ScaleUnWrap").checked;
setCookie("PID_PhaseScale", unwrap_pahse ? "unwrap" : "wrap");
var attenuation = [] var attenuation = []
var phase_lag = [] var phase_lag = []
var min_phase_lag = 0.0; var min_phase_lag = 0.0;
@ -680,13 +692,15 @@ function calculate_pid(axis_id) {
if (use_RPM) { if (use_RPM) {
freq_value *= 60; freq_value *= 60;
} }
var phase_diff = phase - last_phase; if (unwrap_pahse) {
if (phase_diff > 180) { var phase_diff = phase - last_phase;
phase_wrap -= 360.0; if (phase_diff > 180) {
phase -= 360.0; phase_wrap -= 360.0;
} else if (phase_diff < -180) { phase -= 360.0;
phase_wrap += 360.0; } else if (phase_diff < -180) {
phase += 360.0; phase_wrap += 360.0;
phase += 360.0;
}
} }
attenuation.push({x:freq_value, y:aten}); attenuation.push({x:freq_value, y:aten});
phase_lag.push({x:freq_value, y:-phase}); phase_lag.push({x:freq_value, y:-phase});
@ -707,10 +721,15 @@ function calculate_pid(axis_id) {
min_atten = mean_atten - atten_range; min_atten = mean_atten - atten_range;
max_atten = mean_atten + atten_range; max_atten = mean_atten + atten_range;
min_phase_lag = Math.floor((min_phase_lag-10)/10)*10; if (unwrap_pahse) {
min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0); min_phase_lag = Math.floor((min_phase_lag-10)/10)*10;
max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10; min_phase_lag = Math.min(Math.max(-get_form("PID_MaxPhaseLag"), min_phase_lag), 0);
max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag); max_phase_lag = Math.ceil((max_phase_lag+10)/10)*10;
max_phase_lag = Math.min(get_form("PID_MaxPhaseLag"), max_phase_lag);
} else {
min_phase_lag = -180;
max_phase_lag = 180;
}
var freq_log = document.getElementById("PID_freq_ScaleLog").checked; var freq_log = document.getElementById("PID_freq_ScaleLog").checked;
setCookie("PID_feq_scale", use_dB ? "Log" : "Linear"); setCookie("PID_feq_scale", use_dB ? "Log" : "Linear");

18
Tools/autotest/web-firmware/Tools/FilterTool/index.html
View File

@ -39,6 +39,15 @@ ArduPilot 4.2 filter setup.
<label for="LinearScale">Linear</label><br> <label for="LinearScale">Linear</label><br>
</fieldset> </fieldset>
</td> </td>
<td>
<fieldset style="width:150px">
<legend>Phase scale</legend>
<input type="radio" id="ScaleUnWrap" name="PhaseScale" value="unwrap" checked>
<label for="ScaleUnWrap">un-wrapped</label><br>
<input type="radio" id="ScaleWrap" name="PhaseScale" value="wrap">
<label for="ScaleWrap">±180</label><br>
</fieldset>
</td>
<td> <td>
<fieldset style="width:150px"> <fieldset style="width:150px">
<legend>Frequency scale</legend> <legend>Frequency scale</legend>
@ -224,6 +233,15 @@ ArduPilot 4.2 filter setup.
<label for="LinearScale">Linear</label><br> <label for="LinearScale">Linear</label><br>
</fieldset> </fieldset>
</td> </td>
<td>
<fieldset style="width:150px">
<legend>Phase scale</legend>
<input type="radio" id="PID_ScaleUnWrap" name="PID_PhaseScale" value="unwrap" checked>
<label for="ScaleUnWrap">un-wrapped</label><br>
<input type="radio" id="PID_ScaleWrap" name="PID_PhaseScale" value="wrap">
<label for="ScaleWrap">±180</label><br>
</fieldset>
</td>
<td> <td>
<fieldset style="width:150px"> <fieldset style="width:150px">
<legend>Frequency scale</legend> <legend>Frequency scale</legend>