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AP_GyroFFT: added defaults for FFT with no notch 

allow for testing with FFT enabled, and defaulting number of
frequencies to look for
This commit is contained in:
Andrew Tridgell 2022-04-17 17:24:45 +10:00
parent dff0e5ecc1
commit bccca9ed2e
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -253,11 +253,15 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
uint8_t harmonics = 0; uint8_t harmonics = 0;
uint8_t num_notches = 0; uint8_t num_notches = 0;
for (auto &notch : _ins->harmonic_notches) { for (auto &notch : _ins->harmonic_notches) {
if (notch.params.enabled() && notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) { if (notch.params.enabled()) {
harmonics |= notch.params.harmonics(); harmonics |= notch.params.harmonics();
num_notches = MAX(num_notches, notch.num_dynamic_notches); num_notches = MAX(num_notches, notch.num_dynamic_notches);
} }
} }
if (harmonics == 0) {
// this allows use of FFT to find peaks with all notch filters disabled
harmonics = 3;
}
// count the number of active harmonics or dynamic notchs // count the number of active harmonics or dynamic notchs
_tracked_peaks = constrain_int16(MAX(__builtin_popcount(harmonics), _tracked_peaks = constrain_int16(MAX(__builtin_popcount(harmonics),
num_notches), 1, FrequencyPeak::MAX_TRACKED_PEAKS); num_notches), 1, FrequencyPeak::MAX_TRACKED_PEAKS);
@ -383,7 +387,7 @@ void AP_GyroFFT::update()
if (!_rpy_health.x && !_rpy_health.y) { if (!_rpy_health.x && !_rpy_health.y) {
_health = 0; _health = 0;
} else { } else {
uint8_t num_notches = 0; uint8_t num_notches = 1;
for (auto &notch : _ins->harmonic_notches) { for (auto &notch : _ins->harmonic_notches) {
if (notch.params.enabled()) { if (notch.params.enabled()) {
num_notches = MAX(num_notches, notch.num_dynamic_notches); num_notches = MAX(num_notches, notch.num_dynamic_notches);