forked from Archive/PX4-Autopilot
sensors/vehicle_angular_velocity: check filter based on time threshold instead of samples
- fixes #14303
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@ -83,30 +83,30 @@ void VehicleAcceleration::Stop()
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void VehicleAcceleration::CheckFilters()
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{
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// check filter periodically (roughly once every 1-3 seconds depending on sensor configuration)
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if (_interval_count > 2500) {
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bool sample_rate_changed = false;
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if (_interval_count > 1000) {
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bool reset_filters = false;
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// calculate sensor update rate
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const float sample_interval_avg = _interval_sum / _interval_count;
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if (PX4_ISFINITE(sample_interval_avg) && (sample_interval_avg > 0.0f)) {
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const float update_rate_hz = 1.e6f / sample_interval_avg;
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_update_rate_hz = 1.e6f / sample_interval_avg;
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if ((fabsf(update_rate_hz) > 0.0f) && PX4_ISFINITE(update_rate_hz)) {
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_update_rate_hz = update_rate_hz;
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// check if sample rate error is greater than 1%
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if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
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sample_rate_changed = true;
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}
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// check if sample rate error is greater than 1%
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if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
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reset_filters = true;
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}
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}
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const bool lp_updated = (fabsf(_lp_filter.get_cutoff_freq() - _param_imu_accel_cutoff.get()) > 0.01f);
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if (!reset_filters) {
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// accel low pass cutoff frequency changed
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if (fabsf(_lp_filter.get_cutoff_freq() - _param_imu_accel_cutoff.get()) > 0.01f) {
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reset_filters = true;
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}
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}
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if (sample_rate_changed || lp_updated) {
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if (reset_filters) {
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PX4_DEBUG("resetting filters, sample rate: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)_update_rate_hz);
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_filter_sample_rate = _update_rate_hz;
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@ -86,35 +86,41 @@ void VehicleAngularVelocity::Stop()
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void VehicleAngularVelocity::CheckFilters()
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{
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// check filter periodically (roughly once every 1-3 seconds depending on sensor configuration)
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if (_interval_count > 2500) {
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bool sample_rate_changed = false;
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if (_interval_count > 1000) {
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bool reset_filters = false;
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// calculate sensor update rate
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const float sample_interval_avg = _interval_sum / _interval_count;
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if (PX4_ISFINITE(sample_interval_avg) && (sample_interval_avg > 0.0f)) {
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const float update_rate_hz = 1.e6f / sample_interval_avg;
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_update_rate_hz = 1.e6f / sample_interval_avg;
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if ((fabsf(update_rate_hz) > 0.0f) && PX4_ISFINITE(update_rate_hz)) {
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_update_rate_hz = update_rate_hz;
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// check if sample rate error is greater than 1%
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if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
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sample_rate_changed = true;
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}
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// check if sample rate error is greater than 1%
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if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
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reset_filters = true;
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}
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}
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const bool lp_velocity_updated = (fabsf(_lp_filter_velocity.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.01f);
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const bool notch_updated = ((fabsf(_notch_filter_velocity.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.01f)
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|| (fabsf(_notch_filter_velocity.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.01f));
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if (!reset_filters) {
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// gyro low pass cutoff frequency changed
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if (fabsf(_lp_filter_velocity.get_cutoff_freq() - _param_imu_gyro_cutoff.get()) > 0.01f) {
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reset_filters = true;
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}
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const bool lp_acceleration_updated = (fabsf(_lp_filter_acceleration.get_cutoff_freq() - _param_imu_dgyro_cutoff.get()) >
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0.01f);
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// gyro notch filter frequency or bandwidth changed
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if ((fabsf(_notch_filter_velocity.getNotchFreq() - _param_imu_gyro_nf_freq.get()) > 0.01f)
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|| (fabsf(_notch_filter_velocity.getBandwidth() - _param_imu_gyro_nf_bw.get()) > 0.01f)) {
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reset_filters = true;
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}
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if (sample_rate_changed || lp_velocity_updated || notch_updated || lp_acceleration_updated) {
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// gyro derivative low pass cutoff changed
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if (fabsf(_lp_filter_acceleration.get_cutoff_freq() - _param_imu_dgyro_cutoff.get()) > 0.01f) {
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reset_filters = true;
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}
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}
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if (reset_filters) {
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PX4_DEBUG("resetting filters, sample rate: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)_update_rate_hz);
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_filter_sample_rate = _update_rate_hz;
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