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Tools: support triple notch in FilterTool

This commit is contained in:
Andrew Tridgell 2022-07-03 18:40:10 +10:00
parent c29b390e7b
commit 6eb406b2d6
1 changed files with 34 additions and 11 deletions
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45
Tools/autotest/web-firmware/Tools/FilterTool/filters.js
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@ -161,8 +161,14 @@ function HarmonicNotchFilter(sample_freq,enable,mode,freq,bw,att,ref,fm_rat,hmnc
this.notches = []
var chained = 1;
var dbl = false;
var triple = false;
var composite_notches = 1;
if (opts & 1) {
dbl = true;
composite_notches = 2;
} else if (opts & 16) {
triple = true;
composite_notches = 3;
}
this.reset = function(sample) {
@ -204,22 +210,36 @@ function HarmonicNotchFilter(sample_freq,enable,mode,freq,bw,att,ref,fm_rat,hmnc
for (var n=0;n<8;n++) {
var fmul = n+1;
if (hmncs & (1<<n)) {
var center_freq_hz = freq * fmul;
var notch_center = freq * fmul;
var bandwidth_hz = bw * fmul;
for (var c=0; c<chained; c++) {
var nyquist_limit = sample_freq * 0.48;
var bandwidth_limit = bandwidth_hz * 0.52;
// adjust the fundamental center frequency to be in the allowable range
center_freq_hz = constrain_float(center_freq_hz, bandwidth_limit, nyquist_limit);
// Calculate spread required to achieve an equivalent single notch using two notches with Bandwidth/2
if (dbl) {
var notch_spread = bandwidth_hz / (32.0 * center_freq_hz);
var notch_center1 = center_freq_hz * (1.0 - notch_spread);
var notch_center2 = center_freq_hz * (1.0 + notch_spread);
this.notches.push(new NotchFilter(sample_freq,notch_center1,bandwidth_hz*0.5,att));
this.notches.push(new NotchFilter(sample_freq,notch_center2,bandwidth_hz*0.5,att));
} else {
this.notches.push(new NotchFilter(sample_freq,center_freq_hz,bandwidth_hz,att));
var notch_spread = bandwidth_hz / (32.0 * notch_center);
// adjust the fundamental center frequency to be in the allowable range
notch_center = constrain_float(notch_center, bandwidth_limit, nyquist_limit);
if (composite_notches != 2) {
// only enable the filter if its center frequency is below the nyquist frequency
if (notch_center < nyquist_limit) {
this.notches.push(new NotchFilter(sample_freq,notch_center,bandwidth_hz/composite_notches,att));
}
}
if (composite_notches > 1) {
var notch_center_double;
// only enable the filter if its center frequency is below the nyquist frequency
notch_center_double = notch_center * (1.0 - notch_spread);
if (notch_center_double < nyquist_limit) {
this.notches.push(new NotchFilter(sample_freq,notch_center_double,bandwidth_hz/composite_notches,att));
}
// only enable the filter if its center frequency is below the nyquist frequency
notch_center_double = notch_center * (1.0 + notch_spread);
if (notch_center_double < nyquist_limit) {
this.notches.push(new NotchFilter(sample_freq,notch_center_double,bandwidth_hz/composite_notches,att));
}
}
}
}
@ -572,6 +592,9 @@ function fill_docs()
if (ival & 8) {
bits.push("All IMUs Rate");
}
if ((ival & 16) && (ival & 1) == 0) {
bits.push("Triple Notch");
}
doc.innerHTML = bits.join(", ");
} else if (name.endsWith("_HMNCS")) {
var ival = Math.floor(value);