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sensors: rc added low pass filter parameters

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Matthias Grob 2017-01-30 10:34:44 +01:00 committed by Lorenz Meier
parent c2be4b2b29
commit 81dcba3a2a
4 changed files with 42 additions and 0 deletions
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9
src/modules/sensors/parameters.cpp
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@ -125,6 +125,10 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
/* RC low pass filter configuration */
parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
/* Differential pressure offset */
parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
@ -381,6 +385,11 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
parameters.rc_gear_th = fabs(parameters.rc_gear_th);
param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff));
parameters.rc_flt_cutoff = math::max(1.0f, parameters.rc_flt_cutoff);
/* Airspeed offset */
param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa));
param_get(parameter_handles.diff_pres_analog_scale, &(parameters.diff_pres_analog_scale));

7
src/modules/sensors/parameters.h
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@ -44,6 +44,7 @@
#include <drivers/drv_rc_input.h>
#include <systemlib/param/param.h>
#include <mathlib/mathlib.h>
#include <uORB/topics/rc_parameter_map.h>
@ -125,6 +126,9 @@ struct Parameters {
bool rc_trans_inv;
bool rc_gear_inv;
float rc_flt_smp_rate;
float rc_flt_cutoff;
float battery_voltage_scaling;
float battery_current_scaling;
float battery_current_offset;
@ -196,6 +200,9 @@ struct ParameterHandles {
param_t rc_trans_th;
param_t rc_gear_th;
param_t rc_flt_smp_rate;
param_t rc_flt_cutoff;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
param_t battery_current_offset;

6
src/modules/sensors/rc_update.cpp
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@ -118,6 +118,12 @@ void RCUpdate::update_rc_functions()
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* update the RC low pass filter frequencies */
_filter_roll.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_pitch.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_yaw.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_throttle.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
}
void

20
src/modules/sensors/sensor_params.c
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@ -3343,3 +3343,23 @@ PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
/**
* Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle
*
* Has an influence on the cutoff frequency precision.
*
* @min 1.0
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_SMP_RATE, 50.0f);
/**
* Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle
*
* @min 1.0
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_CUTOFF, 5.0f);