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NotchFilter push initialization/reset into filter

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- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
This commit is contained in:
Daniel Agar
2022-01-10 14:51:29 -05:00
parent 2e2ac36cab
commit 7d632254be
2 changed files with 46 additions and 20 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+3 -6
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@@ -171,7 +171,7 @@ void VehicleAngularVelocity::ResetFilters()
// angular velocity notch
_notch_filter_velocity[axis].setParameters(_filter_sample_rate_hz, _param_imu_gyro_nf_freq.get(),
_param_imu_gyro_nf_bw.get());
_notch_filter_velocity[axis].reset(angular_velocity_uncalibrated(axis));
_notch_filter_velocity[axis].reset();
// angular acceleration low pass
if ((_param_imu_dgyro_cutoff.get() > 0.f)
@@ -548,11 +548,9 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(bool force)
}
if (reset) {
const Vector3f reset_angular_velocity{GetResetAngularVelocity()};
for (int axis = 0; axis < 3; axis++) {
for (int harmonic = 0; harmonic < MAX_NUM_ESC_RPM_HARMONICS; harmonic++) {
_dynamic_notch_filter_esc_rpm[axis][esc][harmonic].reset(reset_angular_velocity(axis));
_dynamic_notch_filter_esc_rpm[axis][esc][harmonic].reset();
}
}
@@ -633,8 +631,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(bool force)
// force reset if the notch frequency jumps significantly
if (force || reset || (notch_freq_diff > bandwidth)) {
const Vector3f reset_angular_velocity{GetResetAngularVelocity()};
nf.reset(reset_angular_velocity(axis));
nf.reset();
perf_count(_dynamic_notch_filter_fft_reset_perf);
}