Michelle Rossouw
3379a1a215
Filter: Add Vector2f option to notch filter
2021-07-06 14:56:02 +10:00
Andrew Tridgell
cd1f5ca494
Filter: use CLASS_NO_COPY
2021-06-08 11:14:52 +10:00
Andy Piper
21d24ebc9d
Filter: add harmonic notch option to run at loop rate
2021-05-19 17:35:16 +10:00
Paul Riseborough
b969a43074
Filter: Slewlimiter use different filtering for external reporting
2021-04-15 06:57:16 +10:00
Paul Riseborough
dd446433f7
Filter: Adjust SlewLimiter tuning
2021-04-15 06:57:16 +10:00
Paul Riseborough
6e6df3df58
Filter: Increase gain modifier action
2021-04-15 06:57:16 +10:00
Paul Riseborough
458c46353d
Filter: remove unnecessary fmaxf
2021-04-15 06:57:16 +10:00
Paul Riseborough
cb4a770d38
Filter: Reduce spikes in oscillation slew rate metric
2021-04-15 06:57:16 +10:00
Paul Riseborough
fdfdb118b9
Filter: Improve SlewLimiter oscillation detection
2021-04-15 06:57:16 +10:00
Paul Riseborough
4622e33255
Filter: Use positive and negative direction changes for slew limiting
2021-04-15 06:57:16 +10:00
Andrew Tridgell
59a805a740
Filter: expose slew rate in slew limiter
2021-04-15 06:57:16 +10:00
Andrew Tridgell
6cae97446a
Filter: added auto-init to LowPassFilter
...
make sure initial filter returns are not a long way off if filtered
input is far from zero
2021-04-15 06:57:16 +10:00
Andrew Tridgell
5ef31a1801
Filter: moved ModeFilter to C++
...
save flash space for common code
2021-04-15 06:57:16 +10:00
Andrew Tridgell
6144136b61
Filter: fixed reset of filters to first value
...
the delay elements were set incorrectly
2021-02-05 15:01:22 +11:00
Peter Barker
f847758272
Filter: add gtest suite
2021-02-04 20:50:48 +11:00
Andrew Tridgell
cf47c19c0d
Filter: fixed low pass 2p filter to auto-init
...
this prevents the init to zero for temperature filters
2021-01-21 13:09:21 +11:00
Andrew Tridgell
4495414d05
Filter: added reset with value to LowPassFilter2p
2021-01-21 13:09:21 +11:00
Andy Piper
c291107f50
Filter: correct grammar on HNTCH docs
2020-11-24 10:17:16 +09:00
Andy Piper
726307cb31
Filter: correct harmonic notch docs and provide better defaults.
2020-11-24 10:17:16 +09:00
Andrew Tridgell
b0f0c8d842
Filter: use calc_lowpass_alpha_dt()
2020-11-10 16:15:45 +11:00
Andrew Tridgell
709e1f8f93
Filter: added slew rate filter
2020-10-25 10:32:48 +11:00
Andy Piper
a93821110e
Filter: return active harmonics based on dynamic harmonic enablement
2020-07-14 09:50:06 +10:00
Andy Piper
71f99542a8
Filter: allow harmonic notch center frequencies to be updated individually
2020-06-21 19:09:35 +10:00
Andrew Tridgell
bd07e8516f
Filter: use GCS_SEND_TEXT()
2020-04-29 07:36:55 +10:00
Andy Piper
8407648316
Filter: make sure the center frequency can never be zero
2020-04-28 09:32:02 +10:00
Andy Piper
1dbde3af09
Filter: add support for double harmonic notches to more effectively target wider noise peaks
2020-04-28 09:32:02 +10:00
Andy Piper
4c1816a983
Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message
...
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
2020-02-22 11:15:37 +11:00
Andy Piper
6f5b991f28
Filter: add harmonic notch dynamic tracking mode
...
move definition of HNF_MAX_HARMONICS
2020-02-22 11:15:37 +11:00
Andrew Tridgell
f6c3c73037
Filter: switch harmomic notch mode to enum class
2019-11-19 07:08:01 +08:00
Andy Piper
22111f59e8
Filter: add harmonic notch dynamic tracking mode
...
update harmonic notch REF docs
2019-10-31 11:18:40 +08:00
Andy Piper
ef7f8531fb
Filter: set the harmonic notch filter ref default to zero (disabled)
...
Modify parameter descriptions for tradheli
2019-10-10 20:26:02 +09:00
Leonard Hall
6f3be90147
Filter: Alter Notch filter formula to remove /0 and allow perfect notch.
...
This formulation of the notch equations lets the user specify the depth of the Notch. The presence of a diveide by A prevents the gain going to zero and therefore achieving a perfect notch. It also provides the risk that a user may attempt to do this and cause a divide by zero error. This change adds the ability to achive a perfect notch and removes the possibility of a divide by zero.
Add Notch Filter parameter checking
2019-09-11 18:41:05 +10:00
Andy Piper
9b9fb0d593
Filter: sanity check the harmonic notch sample rate on initialization. do not allow harmonics to go above the nyquist frequency
2019-09-11 18:41:05 +10:00
Andy Piper
bc5916ebc9
Filter: comment on reserved config. cope with notch allocation failure.
2019-09-11 18:41:05 +10:00
Andy Piper
334ebadd5a
Filter: add comments and address review comments for harmonic notch
2019-09-11 18:41:05 +10:00
Andy Piper
366bc06089
Filter: New HarmonicNotchFilter
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This delegates updates to a bank of NotchFilters located at an rpm frequency and harmonics. Center frequency can be updated dynamically. Notch parameters are configurable, including the number of harmonics to filter on. Updates to the filter parameters are optimized across the notch bank. Convert notch bandwidth and frequency to floats.
allow all filter harmonics to be controlled.
add destructor to harmonic notch.
don't allocate sub-filters for harmonic notch if no harmonics set.
2019-09-11 18:41:05 +10:00
Andy Piper
52e4676564
Filter: Allow all filter frequencies to be 16bit.
2019-06-06 17:09:17 +10:00
Andy Piper
1a8475cf9f
Filter: Decouple notch filter configuration from the filter itself.
...
Allow multiple notch filters to be instantiated using the same configuration.
2019-06-06 17:09:17 +10:00
Peter Barker
30749b92d9
Filter: add missing override keyword
2019-02-20 19:23:54 +11:00
Peter Barker
deb25ed9a9
Filter: remove keywords.txt
2019-02-17 00:29:38 -08:00
Andrew Tridgell
6c09b268d8
Filter: fixed crash on zero cutoff frequency
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this fixes #10435
2019-02-08 13:54:54 +11:00
Peter Barker
1056321457
Filter: add override keyword
2018-11-08 11:30:12 +11:00
Andrew Tridgell
50dcca39bd
Filter: added a notch filter
...
maths from Leonard
2017-08-29 13:52:29 +10:00
Pierre Kancir
892a999ba5
Filter: example fix travis warning
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missing function declaration
implicit cast
some style fix
2017-04-13 19:56:16 +01:00
Andrew Tridgell
b165e025d9
Filter: added new constructor for 1p filter
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allow both sample rate and cutoff to be specified in constructor
2016-11-25 17:49:57 +11:00
Andrew Tridgell
f94e4b4375
Filter: allow 1P LowPassFilter to work without alpha recalc per sample
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this makes the 1P filter optionally syntax compatible with the 2P
filter and much more CPU efficient.
2016-11-10 11:43:29 +11:00
Mathieu OTHACEHE
152edf7189
Global: remove mode line from headers
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Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
Lucas De Marchi
ae53920e5b
build: don't build examples with old build system
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We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
2016-10-11 13:03:08 +11:00
Lucas De Marchi
18f1f8bea8
Filter: add AverageFilter variant to save current sum
...
When the the variable in which we are saving the current sum is of
integral type we can use a much more optimized apply() method: instead
of looping the entire number of samples adding them up, we always keep
the current sum in a member. It also allows the caller to decide the
type it wants to use to get the average: this may be dictated by another
interface it uses or it may want to avoid the implicit truncate in the
return of apply().
2016-05-10 14:24:59 -03:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00