fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 03:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: move gyro filtering to sensors/vehicle_angular_velocity

Browse Source 
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
 - sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
 - In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
This commit is contained in:
Daniel Agar
2020-01-27 10:05:33 -05:00
committed by GitHub
parent 0d2e5f1c50
commit 24f0c2d72a
22 changed files with 355 additions and 258 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensor_params.c
-64
View File
@@ -213,70 +213,6 @@ PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
*/
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Driver level notch frequency for gyro
*
* The center frequency for the 2nd order notch filter on the gyro driver.
* 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.
* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);
/**
* Driver level notch bandwidth for gyro
*
* The frequency width of the stop band for the 2nd order notch filter on the gyro driver.
* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
*
* @min 0
* @max 100
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
/**
* Driver level cutoff frequency for gyro
*
* The cutoff frequency for the 2nd order butterworth filter on the gyro driver.
* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
*
* @min 0
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
/**
* Gyro control data maximum publication rate
*
* This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at.
* Set to 0 to disable and publish at the native sensor sample rate.
*
* @min 0
* @max 2000
* @value 0 0 (no limit)
* @value 50 50 Hz
* @value 250 250 Hz
* @value 400 400 Hz
* @value 1000 1000 Hz
* @value 2000 2000 Hz
* @unit Hz
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
/**
* Driver level cutoff frequency for accel
*