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231 Commits

Author SHA1 Message Date
Andy Piper d6666ffb39 Filter: add scripted harmonic notches 2024-11-04 16:05:21 +00:00
Andrew Tridgell 9726e8e218 Filter: only update notch on init if fixed 2024-09-09 09:29:32 +10:00
Andy Piper a8575e0646 Filter: ensure harmonic notch filters are always working 2024-09-09 09:29:32 +10:00
Iampete1 3c6e5691e4 Filter: LowPassFilter: use `calc_lowpass_alpha_dt` helper 2024-08-27 11:21:22 +10:00
Iampete1 b811791863 Filter: examples: TransferFunctionCheck: add support for varable DT low pass 2024-08-20 09:09:41 +10:00
Iampete1 e2ce21a237 Filter: LowPassFilter: split into two classes for constant and variable dt 2024-08-20 09:09:41 +10:00
Iampete1 7d7333a91f Filter: example: TransferFunctionCheck: override constant dt filter 2024-08-20 09:09:41 +10:00
Henry Wurzburg 76abc6850f Filter: add "source" to option 5 2024-07-24 17:20:30 +10:00
Andrew Tridgell 5859250651 Filter: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
Iampete1 51c77fe098 Filter: Testes: notch: interpolate crossing points for acurate phase lag 2024-06-01 16:37:07 +10:00
Andrew Tridgell c908636cde Filter: added test of phase lag vs attenuation 2024-06-01 16:37:07 +10:00
muramura 3a1e07d816 Filter: Get common processes out of the way 2024-05-08 17:41:32 +10:00
Iampete1 0a3bdbfdc9 Filter: NotchFilter: return NaN for `logging_frequency` if not initialised 2024-04-24 17:30:35 +10:00
Iampete1 8f2b2cfe31 Filter: HarmonicNotchFilter: convert harmonics as a bitmask 2024-04-17 22:15:22 +01:00
Henry Wurzburg b69b2324e6 Filter:correct vehicles which can use throttle based notches 2024-04-08 23:11:03 +01:00
Andrew Tridgell 148c176a59 Filter: use a define for nyquist cutoff 2024-03-16 06:54:27 +11:00
Andrew Tridgell 90c8359ff6 Filter: log up to 6 harmonics 2024-03-16 06:54:27 +11:00
Andrew Tridgell fd1a260d46 Filter: added logging of notch centers and 1st harmonic 
log up to 5 sources in new FCN message, or FCNS for single source
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 2286f2ce27 Filter: added test for attenuation adjustment 2024-03-16 06:54:27 +11:00
Andrew Tridgell 8b9fe4d21d Filter: adjust attenuation properly at low frequencies 
use sqrt() adjustment from Leonard
 2024-03-16 06:54:27 +11:00
Andrew Tridgell ae75ea94eb Filter: fixed filter expansion for other than motors based RPM sources 
this also fixes the uint8_t storage of a number than can be greater
than 256. Max total notches in a single HarmonicNotchFilter is
currently 12*16*3 for 12 ESCs, with INS_HNTCH_HMNCS=0xFFFF and triple
notch
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 304890fc7d Filter: fixed test suite 
fill in a parameters structure
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 72d235a8a8 Filter: rework harmonic notch 
do all frequenct clamping in one place in
set_center_frequency(). Allow for zero frequency to disable the
notch. Add an option to treat inactive RPM source as min frequency
 2024-03-16 06:54:27 +11:00
Andrew Tridgell 0d932e8a54 Filter: fixed uint8_t bug in total filters and expand_filter_count bug 
this gets the right number of notches on quadplanes, but is still very
bad in fwd flight
 2023-11-28 18:05:37 +11:00
Andrew Tridgell 002f1076d7 Filter: added optional notch debug logging 
this has helped find multiple bugs
 2023-11-28 18:05:37 +11:00
Andy Piper a61fc423f0 Filter: allow zero centre frequency to passthrough and disable notch 2023-11-28 18:05:37 +11:00
Peter Barker 8eb5baa4ae Filter: correct AP_Filter defines 
- checking the build type is very rarely used and definitely not required here
 - fix boilerplate to conform to normal pattern of including the config header and #if'ing based on the _ENABLED directly after that
 2023-11-21 21:13:42 +11:00
Andy Piper e729c8ccfa Filter: add AP_Filter support 
enable filters with AP_FILTER_ENABLED
allow filters to be compiled out
add dynamic updates, remove load/save and enable
 2023-11-21 13:26:23 +11:00
Andy Piper 6a40843a9e Filter: provide accessors for center and sample frequencies on NotchFilter 2023-11-21 13:26:23 +11:00
Andrew Tridgell b79e96ab57 Filter: protect against extremely low notch filter frequencies 
an incorrectly configured ESC telemetry source can lead to a notch
running at very low frequencies. A simple example is a lua script like
this:

function update()
   esc_telem:update_rpm(12, 0, 0)
   return update, 10
end
return update()

where motor 12 is unused.

with that script in place we get a 1.0078 Hz filter which leads to
massive phase lag and a crashed aircraft

this is a safety protection. We should also try to find out why the
INS_HNTCH_FREQ lower limit is not working
 2023-11-03 08:08:31 +11:00
Iampete1 3c6ddda5e8 Flter: notchfilter: remove unneeded value and pre-multiply for speed 2023-10-17 10:03:43 +11:00
Iampete1 d8e18a0fc7 Filter: LowPassFilter2p: constrain cuttoff to 40% of sample rate 2023-10-10 08:26:05 +09:00
Iampete1 b68ece1007 Filter: HarmonicNotch: convert harmonics to int32 param 2023-10-10 08:07:16 +09:00
Andy Piper f726ca1809 Filter: fix notch filter test. 2023-08-02 16:22:59 +01:00
Randy Mackay 07ecbd18ec Filter: add SlewCalculator2D 2023-08-01 09:16:17 +10:00
Randy Mackay f91cda7b6e Filter: SlewLimiter definitions moved to cpp 2023-08-01 09:16:17 +10:00
Andy Piper 0b20328756 Filter: fix notch filter test. 2023-07-18 11:06:02 +10:00
Iampete1 f77635a5a6 Filter: Examples: Add Transfer function check and MATLAB 2023-05-23 10:31:13 +10:00
Iampete1 4406570391 Filter: NotchFilter: private varables to protected 2023-05-23 10:31:13 +10:00
Peter Barker ae349b6d40 Filter: correct description of filter tracking mode 2023-05-17 12:24:01 +10:00
Iampete1 e613a2d812 Filter: examples: add SlewLimiter example to test functionality 2023-05-02 09:36:03 +10:00
Iampete1 8a4b30ec3f Filter: SlewLimiter: always caculate slew limit 2023-05-02 09:36:03 +10:00
Iampete1 8bd374d835 Filter: HarmonicNotch: update FREQ description 2023-03-15 18:53:55 +11:00
Randy Mackay e4d60347fb Filter: implement 3 element mode filter 2023-03-01 18:22:22 +11:00
Andy Piper 1e003871b0 Filter: save freq_min_ratio when saving parameters 2023-01-31 10:58:12 +11:00
Andy Piper 500f59d839 Filter: allow freq_min_ratio to be set on harmonic notch filter 
allow harmonics to be set
 2023-01-24 10:56:33 +11:00
Leonard Hall f0822e5121 Filter: Support changing update period 2022-12-13 17:10:06 +11:00
Andrew Tridgell 02c06167c1 Filter: allow for expansion of dynamic filters 
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
 2022-10-16 20:38:19 +11:00
Andy Piper 1fe7fb8f35 Filter: optimize notch filter frequency updates when the requested frequency has not changed 2022-09-22 11:48:28 +10:00
Andy Piper b8f01323ec Filter: constrain harmonic notch center frequency changes to be within a slew limit 
raise notch filter slew for smaller aircraft
ensure NotchFilter init() resets the center frequency
 2022-09-21 17:41:38 +10:00