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
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
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
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
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
Iampete1
b68ece1007
Filter: HarmonicNotch: convert harmonics to int32 param
2023-10-10 08:07:16 +09:00
Peter Barker
ae349b6d40
Filter: correct description of filter tracking mode
2023-05-17 12:24:01 +10:00
Iampete1
8bd374d835
Filter: HarmonicNotch: update FREQ description
2023-03-15 18:53:55 +11:00
Andy Piper
1e003871b0
Filter: save freq_min_ratio when saving parameters
2023-01-31 10:58:12 +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
dfba938e63
Filter: add triple harmonic notches
2022-07-03 18:21:41 +10:00
Andrew Tridgell
eefc41fe30
Filter: added a way to plot attenuation and phase lag for complex filters
2022-06-30 20:58:37 +10:00
Andrew Tridgell
366aa7154c
Filter: added FM_RAT for throttle notch frequency ratio
...
allow for configurable min frequency ratio for throttle based notches
2022-06-30 20:58:37 +10:00
Andrew Tridgell
9e3a29bf86
Filter: added EnableOnAllIMUs option to harmonic notch filter
2022-06-12 15:39:44 +10:00
Andy Piper
39d928aa49
Filter: add mutators for notch filter parameters
2022-05-04 17:05:51 +10:00
Andrew Tridgell
1cd1519a4f
Filter: clarify meaning of 1st harmonic
2022-04-19 09:39:03 +10:00
Andrew Tridgell
7272a29b7b
Filter: added RPM2 harmonic notch type
2022-04-19 09:39:03 +10:00
Iampete1
1521760a17
Filters: HarmonicNotch: remove statment on max number of notches harmonics from parm descripstion
2022-03-25 07:14:06 +11:00
Andy Piper
fbdeea2d03
Filter: optimize hot parts of notch filter updates
2021-12-22 18:23:33 +11:00
Andy Piper
34920ebd60
Filter: allow harmonics and notch-per-motor in harmonic notch
...
allow default harmonics to be configured
allow combination of harmonics and indpendent centre frequencies
pre-calculate number of harmonics
2021-12-22 18:13:38 +11:00
Andy Piper
21d24ebc9d
Filter: add harmonic notch option to run at loop rate
2021-05-19 17:35:16 +10:00
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
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
6f5b991f28
Filter: add harmonic notch dynamic tracking mode
...
move definition of HNF_MAX_HARMONICS
2020-02-22 11:15:37 +11:00
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
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
...
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
