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mc_rate_control: use vehicle_angular_acceleration topic instead of differentiating

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* mc_rate_control: use vehicle_angular_acceleration topic
* IMU_DGYRO_CUTOFF change default to 30 Hz
* improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
This commit is contained in:
Daniel Agar
2020-03-12 15:07:03 -04:00
committed by GitHub
parent 2b03aa3d1b
commit 093e9ba1ce
19 changed files with 56 additions and 105 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+1 -1
View File
@@ -108,7 +108,7 @@ private:
math::NotchFilter<matrix::Vector3f> _notch_filter_velocity{};
// angular acceleration filter
math::LowPassFilter2pVector3f _lp_filter_acceleration{kInitialRateHz, 10.0f};
math::LowPassFilter2pVector3f _lp_filter_acceleration{kInitialRateHz, 30.0f};
float _filter_sample_rate{kInitialRateHz};
src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
+18 -6
View File
@@ -36,9 +36,12 @@
*
* The center frequency for the 2nd order notch filter on the primary gyro.
* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
* This only affects the signal sent to the controllers, not the estimators.
* Applies to both angular velocity and angular acceleration sent to the controllers.
* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
@@ -52,6 +55,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);
*
* The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
* Applies to both angular velocity and angular acceleration sent to the controllers.
*
* @min 0
* @max 100
@@ -65,7 +69,10 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
* Low pass filter cutoff frequency for gyro
*
* The cutoff frequency for the 2nd order butterworth filter on the primary gyro.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
* This only affects the angular velocity sent to the controllers, not the estimators.
* Doesn't apply to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
@@ -96,11 +103,16 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
/**
* Cutoff frequency for angular acceleration
* Cutoff frequency for angular acceleration (D-Term filter)
*
* The cutoff frequency for the 2nd order butterworth filter used on
* the time derivative of the measured angular velocity.
* Set to 0 to disable the filter.
* the time derivative of the measured angular velocity, also known as
* the D-term filter in the rate controller. The D-term uses the derivative of
* the rate and thus is the most susceptible to noise. Therefore, using
* a D-term filter allows to decrease the driver-level filtering, which
* leads to reduced control latency and permits to increase the P gains.
*
* A value of 0 disables the filter.
*
* @min 0
* @max 1000
@@ -108,4 +120,4 @@ PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 10.0f);
PARAM_DEFINE_FLOAT(IMU_DGYRO_CUTOFF, 30.0f);