forked from Archive/PX4-Autopilot
sensors/vehicle_angular_velocity: unify filtering for both FIFO and regular use cases
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
8c173b2e7f
commit
ae010ea55c
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@ -146,8 +146,11 @@ bool VehicleAngularVelocity::UpdateSampleRate()
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return false;
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}
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void VehicleAngularVelocity::ResetFilters(const Vector3f &angular_velocity, const Vector3f &angular_acceleration)
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void VehicleAngularVelocity::ResetFilters()
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{
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const Vector3f angular_velocity{GetResetAngularVelocity()};
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const Vector3f angular_acceleration{GetResetAngularAcceleration()};
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for (int axis = 0; axis < 3; axis++) {
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// angular velocity low pass
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_lp_filter_velocity[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_gyro_cutoff.get());
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@ -161,15 +164,17 @@ void VehicleAngularVelocity::ResetFilters(const Vector3f &angular_velocity, cons
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// angular acceleration low pass
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_lp_filter_acceleration[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get());
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_lp_filter_acceleration[axis].reset(angular_acceleration(axis));
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// dynamic notch filters, first disable, then force update (if available)
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DisableDynamicNotchEscRpm();
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DisableDynamicNotchFFT();
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UpdateDynamicNotchEscRpm(true);
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UpdateDynamicNotchFFT(true);
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}
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// dynamic notch filters, first disable, then force update (if available)
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DisableDynamicNotchEscRpm();
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DisableDynamicNotchFFT();
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UpdateDynamicNotchEscRpm(true);
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UpdateDynamicNotchFFT(true);
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_angular_velocity_prev = angular_velocity;
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_reset_filters = false;
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perf_count(_filter_reset_perf);
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}
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@ -314,6 +319,9 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
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if (_dynamic_notch_filter_esc_rpm_perf == nullptr) {
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_dynamic_notch_filter_esc_rpm_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch ESC RPM filter");
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}
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} else {
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DisableDynamicNotchEscRpm();
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}
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if (_param_imu_gyro_dyn_nf.get() & DynamicNotch::FFT) {
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@ -324,6 +332,9 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
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if (_dynamic_notch_filter_fft_perf == nullptr) {
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_dynamic_notch_filter_fft_perf = perf_alloc(PC_ELAPSED, MODULE_NAME": gyro dynamic notch FFT filter");
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}
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} else {
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DisableDynamicNotchFFT();
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}
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#endif // !CONSTRAINED_FLASH
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@ -332,11 +343,27 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
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Vector3f VehicleAngularVelocity::GetResetAngularVelocity() const
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{
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if (_fifo_available && (_last_scale > 0.f)) {
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if ((_last_publish != 0) && (_last_scale > 0.f)
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&& PX4_ISFINITE(_angular_velocity(0))
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&& PX4_ISFINITE(_angular_velocity(1))
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&& PX4_ISFINITE(_angular_velocity(2))) {
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// angular velocity filtering is performed on raw unscaled data
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// start with last valid vehicle body frame angular velocity and compute equivalent raw data (for current sensor selection)
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return _calibration.Uncorrect(_angular_velocity + _bias) / _last_scale;
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}
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} else if (!_fifo_available) {
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return _angular_velocity;
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return Vector3f{0.f, 0.f, 0.f};
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}
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Vector3f VehicleAngularVelocity::GetResetAngularAcceleration() const
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{
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if ((_last_publish != 0) && (_last_scale > 0.f)
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&& PX4_ISFINITE(_angular_acceleration(0))
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&& PX4_ISFINITE(_angular_acceleration(1))
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&& PX4_ISFINITE(_angular_acceleration(2))) {
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// angular acceleration filtering is performed on raw unscaled data
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// start with last valid vehicle body frame angular acceleration and compute equivalent raw data (for current sensor selection)
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return _calibration.rotation().I() * _angular_acceleration / _last_scale;
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}
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return Vector3f{0.f, 0.f, 0.f};
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@ -490,6 +517,73 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(bool force)
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#endif // !CONSTRAINED_FLASH
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}
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float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int N)
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{
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#if !defined(CONSTRAINED_FLASH)
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// Apply dynamic notch filter from ESC RPM
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if (_dynamic_notch_esc_rpm_available) {
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perf_begin(_dynamic_notch_filter_esc_rpm_perf);
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for (auto &dnf : _dynamic_notch_filter_esc_rpm) {
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for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) {
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if (dnf[harmonic][axis].getNotchFreq() > 0.f) {
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dnf[harmonic][axis].applyDF1(data, N);
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} else {
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break;
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}
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}
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}
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perf_end(_dynamic_notch_filter_esc_rpm_perf);
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}
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// Apply dynamic notch filter from FFT
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if (_dynamic_notch_fft_available) {
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perf_begin(_dynamic_notch_filter_fft_perf);
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for (auto &dnf : _dynamic_notch_filter_fft) {
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if (dnf[axis].getNotchFreq() > 0.f) {
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dnf[axis].applyDF1(data, N);
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}
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}
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perf_end(_dynamic_notch_filter_fft_perf);
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}
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#endif // !CONSTRAINED_FLASH
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// Apply general notch filter (IMU_GYRO_NF_FREQ)
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if (_notch_filter_velocity[axis].getNotchFreq() > 0.f) {
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_notch_filter_velocity[axis].apply(data, N);
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}
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// Apply general low-pass filter (IMU_GYRO_CUTOFF)
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_lp_filter_velocity[axis].apply(data, N);
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// return last filtered sample
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return data[N - 1];
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}
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float VehicleAngularVelocity::FilterAngularAcceleration(int axis, float data[], int N, float dt_s)
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{
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if (N > 0) {
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// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
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float delta_velocity_filtered;
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for (int n = 0; n < N; n++) {
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const float delta_velocity = (data[n] - _angular_velocity_prev(axis));
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delta_velocity_filtered = _lp_filter_acceleration[axis].apply(delta_velocity);
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_angular_velocity_prev(axis) = data[n];
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}
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return delta_velocity_filtered / dt_s;
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}
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return 0.f;
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}
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void VehicleAngularVelocity::Run()
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{
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// backup schedule
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@ -507,30 +601,26 @@ void VehicleAngularVelocity::Run()
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sensor_gyro_fifo_s sensor_fifo_data;
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while (_sensor_fifo_sub.update(&sensor_fifo_data)) {
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static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]);
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const float dt_s = sensor_fifo_data.dt * 1e-6f;
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_timestamp_sample_last = sensor_fifo_data.timestamp_sample;
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if ((sensor_fifo_data.samples > 0) && (sensor_fifo_data.samples <= FIFO_SIZE_MAX)) {
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_timestamp_sample_last = sensor_fifo_data.timestamp_sample;
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if (_reset_filters || (fabsf(sensor_fifo_data.scale - _last_scale) > FLT_EPSILON)) {
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if (UpdateSampleRate()) {
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// in FIFO mode the unscaled raw data is filtered
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_last_scale = sensor_fifo_data.scale;
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const int N = sensor_fifo_data.samples;
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const float dt_s = sensor_fifo_data.dt * 1e-6f;
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if (_reset_filters || (fabsf(sensor_fifo_data.scale - _last_scale) > FLT_EPSILON)) {
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if (UpdateSampleRate()) {
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// in FIFO mode the unscaled raw data is filtered
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_last_scale = sensor_fifo_data.scale;
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_angular_velocity_prev = GetResetAngularVelocity();
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Vector3f angular_acceleration{_calibration.rotation().I() *_angular_acceleration / _last_scale};
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ResetFilters(_angular_velocity_prev, angular_acceleration);
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}
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if (_reset_filters) {
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continue; // not safe to run until filters configured
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}
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ResetFilters();
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}
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if (_reset_filters) {
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continue; // not safe to run until filters configured
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}
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}
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const int N = sensor_fifo_data.samples;
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static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]);
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if ((N > 0) && (N <= FIFO_SIZE_MAX)) {
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UpdateDynamicNotchEscRpm();
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UpdateDynamicNotchFFT();
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@ -547,74 +637,15 @@ void VehicleAngularVelocity::Run()
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data[n] = raw_data_array[axis][n];
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}
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#if !defined(CONSTRAINED_FLASH)
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// Apply dynamic notch filter from ESC RPM
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if (_dynamic_notch_esc_rpm_available) {
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perf_begin(_dynamic_notch_filter_esc_rpm_perf);
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for (auto &dnf : _dynamic_notch_filter_esc_rpm) {
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for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) {
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if (dnf[harmonic][axis].getNotchFreq() > 0.f) {
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dnf[harmonic][axis].applyDF1(data, N);
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} else {
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break;
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}
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}
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}
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perf_end(_dynamic_notch_filter_esc_rpm_perf);
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}
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// Apply dynamic notch filter from FFT
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if (_dynamic_notch_fft_available) {
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perf_begin(_dynamic_notch_filter_fft_perf);
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for (auto &dnf : _dynamic_notch_filter_fft) {
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if (dnf[axis].getNotchFreq() > 0.f) {
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dnf[axis].applyDF1(data, N);
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}
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}
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perf_end(_dynamic_notch_filter_fft_perf);
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}
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#endif // !CONSTRAINED_FLASH
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// Apply general notch filter (IMU_GYRO_NF_FREQ)
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if (_notch_filter_velocity[axis].getNotchFreq() > 0.f) {
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_notch_filter_velocity[axis].apply(data, N);
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}
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// Apply general low-pass filter (IMU_GYRO_CUTOFF)
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_lp_filter_velocity[axis].apply(data, N);
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// save last filtered sample
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angular_velocity_unscaled(axis) = data[N - 1];
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// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
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float delta_velocity_filtered;
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for (int n = 0; n < N; n++) {
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const float delta_velocity = (data[n] - _angular_velocity_prev(axis));
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delta_velocity_filtered = _lp_filter_acceleration[axis].apply(delta_velocity);
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_angular_velocity_prev(axis) = data[n];
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}
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angular_acceleration_unscaled(axis) = delta_velocity_filtered / dt_s;
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angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, N);
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angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, data, N, dt_s);
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}
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// Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias
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_angular_velocity = _calibration.Correct(angular_velocity_unscaled * sensor_fifo_data.scale) - _bias;
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// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation
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_angular_acceleration = _calibration.rotation() * angular_acceleration_unscaled * sensor_fifo_data.scale;
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// Publish
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if (!_sensor_fifo_sub.updated()) {
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Publish(sensor_fifo_data.timestamp_sample);
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CalibrateAndPublish(sensor_fifo_data.timestamp_sample, angular_velocity_unscaled, angular_acceleration_unscaled,
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sensor_fifo_data.scale);
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}
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}
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}
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@ -629,8 +660,9 @@ void VehicleAngularVelocity::Run()
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if (_reset_filters) {
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if (UpdateSampleRate()) {
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_angular_velocity_prev = _angular_velocity;
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ResetFilters(_angular_velocity, _angular_acceleration);
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// non-FIFO sensor data is already scaled
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_last_scale = 1.f;
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ResetFilters();
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}
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if (_reset_filters) {
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@ -641,70 +673,39 @@ void VehicleAngularVelocity::Run()
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UpdateDynamicNotchEscRpm();
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UpdateDynamicNotchFFT();
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// Apply calibration, rotation, and correct for in-run bias errors
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Vector3f angular_velocity{_calibration.Correct(Vector3f{sensor_data.x, sensor_data.y, sensor_data.z}) - _bias};
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Vector3f angular_velocity_unscaled;
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Vector3f angular_acceleration_unscaled;
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float raw_data_array[] {sensor_data.x, sensor_data.y, sensor_data.z};
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for (int axis = 0; axis < 3; axis++) {
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#if !defined(CONSTRAINED_FLASH)
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// copy sensor sample to float array for filtering
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float data[1] {raw_data_array[axis]};
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// Apply dynamic notch filter from ESC RPM
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if (_dynamic_notch_esc_rpm_available) {
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perf_begin(_dynamic_notch_filter_esc_rpm_perf);
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for (auto &dnf : _dynamic_notch_filter_esc_rpm) {
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for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) {
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if (dnf[harmonic][axis].getNotchFreq() > 0.f) {
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dnf[harmonic][axis].applyDF1(&angular_velocity(axis), 1);
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} else {
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break;
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}
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}
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}
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perf_end(_dynamic_notch_filter_esc_rpm_perf);
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}
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// Apply dynamic notch filter from FFT
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if (_dynamic_notch_fft_available) {
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perf_begin(_dynamic_notch_filter_fft_perf);
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for (auto &dnf : _dynamic_notch_filter_fft) {
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if (dnf[axis].getNotchFreq() > 0.f) {
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dnf[axis].applyDF1(&angular_velocity(axis), 1);
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}
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}
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perf_end(_dynamic_notch_filter_fft_perf);
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}
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#endif // !CONSTRAINED_FLASH
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// Apply general notch filter (IMU_GYRO_NF_FREQ)
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_notch_filter_velocity[axis].apply(&angular_velocity(axis), 1);
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// Apply general low-pass filter (IMU_GYRO_CUTOFF)
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_lp_filter_velocity[axis].apply(&angular_velocity(axis), 1);
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// Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
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const float accel = (angular_velocity(axis) - _angular_velocity_prev(axis)) / dt_s;
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_angular_acceleration(axis) = _lp_filter_acceleration[axis].apply(accel);
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_angular_velocity_prev(axis) = angular_velocity(axis);
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// save last filtered sample
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angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, 1);
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angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, data, 1, dt_s);
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}
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_angular_velocity = angular_velocity;
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// Publish
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if (!_sensor_sub.updated()) {
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Publish(sensor_data.timestamp_sample);
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CalibrateAndPublish(sensor_data.timestamp_sample, angular_velocity_unscaled, angular_acceleration_unscaled);
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}
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}
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}
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}
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void VehicleAngularVelocity::Publish(const hrt_abstime ×tamp_sample)
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void VehicleAngularVelocity::CalibrateAndPublish(const hrt_abstime ×tamp_sample,
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const Vector3f &angular_velocity_unscaled, const Vector3f &angular_acceleration_unscaled, float scale)
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{
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// Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias
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_angular_velocity = _calibration.Correct(angular_velocity_unscaled * scale) - _bias;
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// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation
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_angular_acceleration = _calibration.rotation() * angular_acceleration_unscaled * scale;
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if (timestamp_sample >= _last_publish + _publish_interval_min_us) {
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// Publish vehicle_angular_acceleration
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vehicle_angular_acceleration_s v_angular_acceleration;
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v_angular_acceleration.timestamp_sample = timestamp_sample;
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@ -75,11 +75,17 @@ public:
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private:
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void Run() override;
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void CalibrateAndPublish(const hrt_abstime ×tamp_sample, const matrix::Vector3f &angular_velocity,
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const matrix::Vector3f &angular_acceleration, float scale = 1.f);
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float FilterAngularVelocity(int axis, float data[], int N);
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float FilterAngularAcceleration(int axis, float data[], int N, float dt_s);
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void DisableDynamicNotchEscRpm();
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void DisableDynamicNotchFFT();
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void ParametersUpdate(bool force = false);
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void Publish(const hrt_abstime ×tamp_sample);
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void ResetFilters(const matrix::Vector3f &angular_velocity, const matrix::Vector3f &angular_acceleration);
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void ResetFilters();
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void SensorBiasUpdate(bool force = false);
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bool SensorSelectionUpdate(bool force = false);
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void UpdateDynamicNotchEscRpm(bool force = false);
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@ -88,6 +94,7 @@ private:
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// scaled appropriately for current FIFO mode
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matrix::Vector3f GetResetAngularVelocity() const;
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matrix::Vector3f GetResetAngularAcceleration() const;
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static constexpr int MAX_SENSOR_COUNT = 4;
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