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rc_update: remove obsolete RC filtering

This commit is contained in:
Matthias Grob 2020-05-14 17:11:43 +02:00
parent 17d4fd064f
commit 27586db93e
3 changed files with 0 additions and 60 deletions
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23
src/modules/rc_update/params.c
View File

@ -2228,26 +2228,3 @@ PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.75f);
/**
* Sample rate of the remote control values for the low pass filter on roll, pitch, yaw and throttle
*
* Has an influence on the cutoff frequency precision.
*
* @min 1.0
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_SMP_RATE, 50.0f);
/**
* Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle
*
* Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics.
* Set to 0 to disable the filter.
*
* @min 0
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_CUTOFF, 10.0f);

29
src/modules/rc_update/rc_update.cpp
View File

@ -106,19 +106,6 @@ RCUpdate::init()
void
RCUpdate::parameters_updated()
{
if (_param_rc_flt_smp_rate.get() < 1.0f) {
_param_rc_flt_smp_rate.set(1.0f);
_param_rc_flt_smp_rate.commit_no_notification();
}
// make sure the filter is in its stable region -> fc < fs/2
const float flt_cutoff_max = _param_rc_flt_smp_rate.get() / 2.0f - 1.0f;
if (_param_rc_flt_cutoff.get() > flt_cutoff_max) {
_param_rc_flt_cutoff.set(flt_cutoff_max);
_param_rc_flt_cutoff.commit_no_notification();
}
// rc values
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
@ -185,16 +172,6 @@ RCUpdate::update_rc_functions()
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* update the RC low pass filter frequencies */
_filter_roll.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_pitch.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_yaw.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_throttle.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_roll.reset(0.f);
_filter_pitch.reset(0.f);
_filter_yaw.reset(0.f);
_filter_throttle.reset(0.f);
}
void
@ -481,12 +458,6 @@ RCUpdate::Run()
manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
manual.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0);
/* filter controls */
manual.y = math::constrain(_filter_roll.apply(manual.y), -1.f, 1.f);
manual.x = math::constrain(_filter_pitch.apply(manual.x), -1.f, 1.f);
manual.r = math::constrain(_filter_yaw.apply(manual.r), -1.f, 1.f);
manual.z = math::constrain(_filter_throttle.apply(manual.z), 0.f, 1.f);
if (_param_rc_map_fltmode.get() > 0) {
/* number of valid slots */
const int num_slots = manual_control_setpoint_s::MODE_SLOT_NUM;

8
src/modules/rc_update/rc_update.h
View File

@ -166,11 +166,6 @@ private:
hrt_abstime _last_rc_to_param_map_time = 0;
math::LowPassFilter2p _filter_roll{50.0f, 10.f}; /**< filters for the main 4 stick inputs */
math::LowPassFilter2p _filter_pitch{50.0f, 10.f}; /** we want smooth setpoints as inputs to the controllers */
math::LowPassFilter2p _filter_yaw{50.0f, 10.f};
math::LowPassFilter2p _filter_throttle{50.0f, 10.f};
perf_counter_t _loop_perf; /**< loop performance counter */
DEFINE_PARAMETERS(
@ -223,9 +218,6 @@ private:
(ParamFloat<px4::params::RC_MAN_TH>) _param_rc_man_th,
(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
(ParamFloat<px4::params::RC_FLT_SMP_RATE>) _param_rc_flt_smp_rate,
(ParamFloat<px4::params::RC_FLT_CUTOFF>) _param_rc_flt_cutoff,
(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
)