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RC_Channel: add in-flight FFT notch tuning function

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initialize FFT tune
This commit is contained in:
Andy Piper 2022-03-06 13:51:31 +01:00 committed by Andrew Tridgell
parent 3199412bff
commit bfc3a5a749
2 changed files with 29 additions and 1 deletions
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26
libraries/RC_Channel/RC_Channel.cpp
View File

@ -519,6 +519,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
case AUX_FUNC::RUNCAM_OSD_CONTROL:
case AUX_FUNC::SPRAYER:
case AUX_FUNC::DISABLE_AIRSPEED_USE:
case AUX_FUNC::FFT_NOTCH_TUNE:
#if HAL_MOUNT_ENABLED
case AUX_FUNC::RETRACT_MOUNT:
#endif
@ -579,6 +580,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::EMERGENCY_LANDING_EN, "Emergency Landing"},
{ AUX_FUNC::WEATHER_VANE_ENABLE, "Weathervane"},
{ AUX_FUNC::TURBINE_START, "Turbine Start"},
{ AUX_FUNC::FFT_NOTCH_TUNE, "FFT Notch Tuning"},
};
/* lookup the announcement for switch change */
@ -900,6 +902,26 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
mission->reset();
}
void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
{
#if HAL_GYROFFT_ENABLED
AP_GyroFFT *fft = AP::fft();
if (fft == nullptr) {
return;
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
fft->start_notch_tune();
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
fft->stop_notch_tune();
break;
}
#endif
}
bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
{
const bool ret = do_aux_function(ch_option, pos);
@ -988,6 +1010,10 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
do_aux_function_avoid_adsb(ch_flag);
break;
case AUX_FUNC::FFT_NOTCH_TUNE:
do_aux_function_fft_notch_tune(ch_flag);
break;
#if HAL_GENERATOR_ENABLED
case AUX_FUNC::GENERATOR:
do_aux_function_generator(ch_flag);

4
libraries/RC_Channel/RC_Channel.h
View File

@ -224,7 +224,8 @@ public:
OPTFLOW_CAL = 158, // optical flow calibration
FORCEFLYING = 159, // enable or disable land detection for GPS based manual modes preventing land detection and maintainting set_throttle_mix_max
WEATHER_VANE_ENABLE = 160, // enable/disable weathervaning
TURBINE_START = 161, // initialize turbine start sequence
TURBINE_START = 161, // initialize turbine start sequence
FFT_NOTCH_TUNE = 162, // FFT notch tuning function
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input
@ -315,6 +316,7 @@ protected:
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_sprayer(const AuxSwitchPos ch_flag);
void do_aux_function_generator(const AuxSwitchPos ch_flag);
void do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag);
typedef int8_t modeswitch_pos_t;
virtual void mode_switch_changed(modeswitch_pos_t new_pos) {