Tools: add CMSIS DSP module to waf for M4 ChibiOS and control inclusion of FFT based on HAL_WITH_DSP and GYROFFT_ENABLED. target appropriate ARM cpus

sophisticated autotest for Gyro FFT

Tools/ardupilotwaf/ardupilotwaf.py

@@ -96,6 +96,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_Hott_Telem',
     'AP_ESC_Telem',
     'AP_Stats',
+    'AP_GyroFFT',
 ]
 
 def get_legacy_defines(sketch_name):

Tools/ardupilotwaf/boards.py

@@ -490,6 +490,7 @@ class chibios(Board):
             '--specs=nano.specs',
             '-specs=nosys.specs',
             '-DCHIBIOS_BOARD_NAME="%s"' % self.name,
+            '-D__USE_CMSIS',
         ]
         env.CXXFLAGS += env.CFLAGS + [
             '-fno-rtti',
@@ -525,6 +526,7 @@ class chibios(Board):
             '-L%s' % env.BUILDROOT,
             '-L%s' % cfg.srcnode.make_node('modules/ChibiOS/os/common/startup/ARMCMx/compilers/GCC/ld/').abspath(),
             '-L%s' % cfg.srcnode.make_node('libraries/AP_HAL_ChibiOS/hwdef/common/').abspath(),
+            '-L%s' % cfg.srcnode.make_node('libraries/AP_GyroFFT/CMSIS_5/lib/').abspath(),
             '-Wl,--gc-sections,--no-warn-mismatch,--library-path=/ld,--script=ldscript.ld,--defsym=__process_stack_size__=%s,--defsym=__main_stack_size__=%s' % (cfg.env.PROCESS_STACK, cfg.env.MAIN_STACK)
         ]
 
@@ -551,6 +553,10 @@ class chibios(Board):
             'ChibiOS',
         ]
 
+        env.INCLUDES += [
+            cfg.srcnode.find_dir('libraries/AP_GyroFFT/CMSIS_5/include').abspath()
+        ]
+
         try:
             import intelhex
             env.HAVE_INTEL_HEX = True

Tools/ardupilotwaf/chibios.py

@@ -374,7 +374,6 @@ def configure(cfg):
         cfg.fatal("Failed to process hwdef.dat")
     if ret != 0:
         cfg.fatal("Failed to process hwdef.dat ret=%d" % ret)
-
     load_env_vars(cfg.env)
     if env.HAL_WITH_UAVCAN:
         setup_can_build(cfg)
@@ -421,8 +420,12 @@ def build(bld):
         target=bld.bldnode.find_or_declare('modules/ChibiOS/libch.a')
     )
     ch_task.name = "ChibiOS_lib"
-
+    if bld.env.CORTEX == 'cortex-m4':
-    bld.env.LIB += ['ch']
+        bld.env.LIB += ['ch', 'arm_cortexM4lf_math']
+    elif bld.env.CORTEX == 'cortex-m7':
+        bld.env.LIB += ['ch', 'arm_cortexM7lfdp_math']
+    else:
+        bld.env.LIB += ['ch']
     bld.env.LIBPATH += ['modules/ChibiOS/']
     # list of functions that will be wrapped to move them out of libc into our
     # own code note that we also include functions that we deliberately don't

Tools/autotest/arducopter.py

@@ -1836,6 +1836,8 @@ class AutoTestCopter(AutoTest):
         ex = None
         try:
             self.set_rc_default()
+            # magic tridge EKF type that dramatically speeds up the test
+            self.set_parameter("AHRS_EKF_TYPE", 10)
             self.set_parameter("INS_LOG_BAT_MASK", 3)
             self.set_parameter("INS_LOG_BAT_OPT", 0)
             self.set_parameter("LOG_BITMASK", 958)
@@ -3625,6 +3627,8 @@ class AutoTestCopter(AutoTest):
 
     def fly_dynamic_notches(self):
         self.progress("Flying with dynamic notches")
+        # magic tridge EKF type that dramatically speeds up the test
+        self.set_parameter("AHRS_EKF_TYPE", 10)
         self.set_parameter("INS_HNTCH_ENABLE", 1)
         self.set_parameter("INS_HNTCH_FREQ", 80)
         self.set_parameter("INS_HNTCH_REF", 0.35)
@@ -3635,6 +3639,7 @@ class AutoTestCopter(AutoTest):
         self.reboot_sitl()
 
         self.set_parameter("SIM_GYR_RND", 10)
+
         self.takeoff(10, mode="LOITER")
 
         self.change_mode("ALT_HOLD")
@@ -3647,6 +3652,186 @@ class AutoTestCopter(AutoTest):
 
         self.do_RTL()
 
+    def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, peakhz=None):
+
+        # find a motor peak
+        self.takeoff(10, mode="ALT_HOLD")
+
+        hover_time = 15
+        tstart = self.get_sim_time()
+        self.progress("Hovering for %u seconds" % hover_time)
+        while self.get_sim_time_cached() < tstart + hover_time:
+            attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
+        vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
+        tend = self.get_sim_time()
+
+        self.do_RTL()
+        psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
+
+        # batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
+        freq = psd["F"][numpy.argmax(psd["X"][minhz:maxhz]) + minhz] * (1000. / 1024.)
+        peakdb = numpy.amax(psd["X"][minhz:maxhz])
+        if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
+            raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
+        else:
+            self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
+
+        # we have a peak make sure that the FFT detected something close
+        # logging is at 10Hz
+        mlog = self.dfreader_for_current_onboard_log()
+        pkAvg = freq
+        nmessages = 1
+
+        m = mlog.recv_match(type='FTN1', blocking=False,
+                        condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
+
+        while m is not None:
+            nmessages = nmessages + 1
+            pkAvg = pkAvg + (0.1 * (m.PkAvg - pkAvg))
+            m = mlog.recv_match(type='FTN1', blocking=False,
+                            condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
+
+        self.progress("Detected motor peak at %fHz processing %d messages" % (pkAvg, nmessages))
+
+        # peak within 5%
+        if abs(pkAvg - freq) / freq > 0.1:
+            raise NotAchievedException("FFT did not detect a motor peak at %f, found %f, wanted %f" % (dblevel, pkAvg, freq))
+
+        return freq
+
+    def fly_gyro_fft(self):
+        """Use dynamic harmonic notch to control motor noise."""
+        # basic gyro sample rate test
+        self.progress("Flying with gyro FFT - Gyro sample rate")
+        self.context_push()
+
+        ex = None
+        try:
+            self.set_rc_default()
+            # magic tridge EKF type that dramatically speeds up the test
+            self.set_parameter("AHRS_EKF_TYPE", 10)
+            self.set_parameter("EK2_ENABLE", 0)
+            self.set_parameter("INS_LOG_BAT_MASK", 3)
+            self.set_parameter("INS_LOG_BAT_OPT", 0)
+            self.set_parameter("INS_GYRO_FILTER", 100)
+            self.set_parameter("INS_FAST_SAMPLE", 0)
+            self.set_parameter("LOG_BITMASK", 958)
+            self.set_parameter("LOG_DISARMED", 0)
+            self.set_parameter("SIM_DRIFT_SPEED", 0)
+            self.set_parameter("SIM_DRIFT_TIME", 0)
+            # enable a noisy motor peak
+            self.set_parameter("SIM_GYR_RND", 20)
+            # enabling FFT will also enable the arming check, self-testing the functionality
+            self.set_parameter("FFT_ENABLE", 1)
+            self.set_parameter("FFT_MINHZ", 50)
+            self.set_parameter("FFT_MAXHZ", 450)
+            self.set_parameter("FFT_SNR_REF", 10)
+            self.set_parameter("FFT_WINDOW_SIZE", 128)
+            self.set_parameter("FFT_WINDOW_OLAP", 0.75)
+
+            # Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
+            # can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
+            # a 250Hz peak should be detectable within 5%
+            self.set_parameter("SIM_VIB_FREQ_X", 250)
+            self.set_parameter("SIM_VIB_FREQ_Y", 250)
+            self.set_parameter("SIM_VIB_FREQ_Z", 250)
+
+            self.reboot_sitl()
+
+            # find a motor peak
+            self.hover_and_check_matched_frequency(-15, 100, 350, 250)
+
+            # Step 2: inject actual motor noise and use the standard length FFT to track it
+            self.set_parameter("SIM_VIB_FREQ_X", 0)
+            self.set_parameter("SIM_VIB_FREQ_Y", 0)
+            self.set_parameter("SIM_VIB_FREQ_Z", 0)
+            self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
+            self.set_parameter("FFT_WINDOW_SIZE", 32)
+            self.set_parameter("FFT_WINDOW_OLAP", 0.5)
+
+            self.reboot_sitl()
+            freq = self.hover_and_check_matched_frequency(-15, 100, 250)
+
+            # Step 2a: add a second harmonic and check the first is still tracked
+            self.set_parameter("SIM_VIB_FREQ_X", freq * 2)
+            self.set_parameter("SIM_VIB_FREQ_Y", freq * 2)
+            self.set_parameter("SIM_VIB_FREQ_Z", freq * 2)
+            self.set_parameter("SIM_VIB_MOT_MULT", 0.25) # halve the motor noise so that the higher harmonic dominates
+            self.reboot_sitl()
+
+            self.hover_and_check_matched_frequency(-15, 100, 250)
+            self.set_parameter("SIM_VIB_FREQ_X", 0)
+            self.set_parameter("SIM_VIB_FREQ_Y", 0)
+            self.set_parameter("SIM_VIB_FREQ_Z", 0)
+            self.set_parameter("SIM_VIB_MOT_MULT", 1.)
+
+            # Step 3: add a FFT dynamic notch and check that the peak is squashed
+            self.set_parameter("INS_LOG_BAT_OPT", 2)
+            self.set_parameter("INS_HNTCH_ENABLE", 1)
+            self.set_parameter("INS_HNTCH_FREQ", freq)
+            self.set_parameter("INS_HNTCH_REF", 1.0)
+            self.set_parameter("INS_HNTCH_ATT", 50)
+            self.set_parameter("INS_HNTCH_BW", freq/2)
+            self.set_parameter("INS_HNTCH_MODE", 4)
+            self.reboot_sitl()
+
+            self.takeoff(10, mode="ALT_HOLD")
+            hover_time = 15
+            ignore_bins = 20
+            self.progress("Hovering for %u seconds" % hover_time)
+            tstart = self.get_sim_time()
+            while self.get_sim_time_cached() < tstart + hover_time:
+                attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
+            tend = self.get_sim_time()
+
+            # fly fast forrest!
+            self.set_rc(3, 1900)
+            self.set_rc(2, 1200)
+            self.wait_groundspeed(5, 1000)
+            self.set_rc(3, 1500)
+            self.set_rc(2, 1500)
+
+            self.do_RTL()
+            psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
+            freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
+            dblevel = numpy.amax(psd["X"][ignore_bins:])
+            if dblevel < -10:
+                self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, dblevel))
+            else:
+                raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, dblevel))
+
+            # Step 4: loop sample rate test with larger window
+            self.progress("Flying with gyro FFT - Fast loop rate")
+            # we are limited to half the loop rate for frequency detection
+            self.set_parameter("FFT_MAXHZ", 185)
+            self.set_parameter("INS_LOG_BAT_OPT", 0)
+            self.set_parameter("SIM_VIB_MOT_MAX", 220)
+            self.set_parameter("FFT_WINDOW_SIZE", 64)
+            self.set_parameter("FFT_WINDOW_OLAP", 0.75)
+            self.set_parameter("FFT_SAMPLE_MODE", 1)
+            self.reboot_sitl()
+
+            self.takeoff(10, mode="ALT_HOLD")
+
+            self.progress("Hovering for %u seconds" % hover_time)
+            tstart = self.get_sim_time()
+            while self.get_sim_time_cached() < tstart + hover_time:
+                attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
+            tend = self.get_sim_time()
+
+            self.do_RTL()
+            # prevent update parameters from messing with the settings when we pop the context
+            self.set_parameter("FFT_ENABLE", 0)
+            self.reboot_sitl()
+
+        except Exception as e:
+            ex = e
+
+        self.context_pop()
+
+        if ex is not None:
+            raise ex
+
     def test_onboard_compass_calibration(self, timeout=300):
         params = [
             ("SIM_MAG_DIA_X", "COMPASS_DIA_X", 1.0),
@@ -4631,6 +4816,10 @@ class AutoTestCopter(AutoTest):
              "Fly Dynamic Notches",
              self.fly_dynamic_notches),
 
+            ("GyroFFT",
+             "Fly Gyro FFT",
+             self.fly_gyro_fft),
+
             ("RangeFinderDrivers",
              "Test rangefinder drivers",
              self.fly_rangefinder_drivers),