mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 01:50:35 +08:00
Mathieu Bresciani
5adf23a6a8
* NotchFilter: add NotchFilter template and test for float type * NotchFilterTest: add test for Vector3f notch filter * PX4Gyroscope: add notch filter with IMU_GYRO_NF_(FREQ|BW) parameters to set the notch center frequency and bandwidth
293 lines
8.0 KiB
C
293 lines
8.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Primary baro ID
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*
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* @category system
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);
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/**
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* Airspeed sensor compensation model for the SDP3x
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*
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* Model with Pitot
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* CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
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* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
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* Model without Pitot (1.5 mm tubes)
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* CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.
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* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.
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* Tube Pressure Drop
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* CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.
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* CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
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*
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* @value 0 Model with Pitot
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* @value 1 Model without Pitot (1.5 mm tubes)
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* @value 2 Tube Pressure Drop
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*
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(CAL_AIR_CMODEL, 0);
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/**
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* Airspeed sensor tube length.
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*
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* See the CAL_AIR_CMODEL explanation on how this parameter should be set.
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*
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* @min 0.01
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* @max 2.00
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* @unit meter
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*
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(CAL_AIR_TUBELEN, 0.2f);
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/**
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* Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation.
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*
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* @min 0.1
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* @max 100
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* @unit millimeter
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*
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);
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/**
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* Differential pressure sensor offset
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*
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* The offset (zero-reading) in Pascal
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*
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* @category system
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
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/**
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* Differential pressure sensor analog scaling
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*
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* Pick the appropriate scaling from the datasheet.
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* this number defines the (linear) conversion from voltage
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* to Pascal (pa). For the MPXV7002DP this is 1000.
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*
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* NOTE: If the sensor always registers zero, try switching
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* the static and dynamic tubes.
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*
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* @group Sensor Calibration
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*/
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PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
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/**
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* QNH for barometer
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*
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* @min 500
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* @max 1500
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* @group Sensors
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* @unit hPa
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*
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* @reboot_required true
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*
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*/
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PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
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/**
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* Board rotation
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*
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* This parameter defines the rotation of the FMU board relative to the platform.
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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* @value 8 Roll 180°
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* @value 9 Roll 180°, Yaw 45°
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* @value 10 Roll 180°, Yaw 90°
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* @value 11 Roll 180°, Yaw 135°
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* @value 12 Pitch 180°
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* @value 13 Roll 180°, Yaw 225°
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* @value 14 Roll 180°, Yaw 270°
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* @value 15 Roll 180°, Yaw 315°
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* @value 16 Roll 90°
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* @value 17 Roll 90°, Yaw 45°
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* @value 18 Roll 90°, Yaw 90°
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* @value 19 Roll 90°, Yaw 135°
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* @value 20 Roll 270°
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* @value 21 Roll 270°, Yaw 45°
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* @value 22 Roll 270°, Yaw 90°
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* @value 23 Roll 270°, Yaw 135°
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* @value 24 Pitch 90°
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* @value 25 Pitch 270°
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* @value 26 Roll 270°, Yaw 270°
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* @value 27 Roll 180°, Pitch 270°
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* @value 28 Pitch 90°, Yaw 180
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* @value 29 Pitch 90°, Roll 90°
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* @value 30 Yaw 293°, Pitch 68°, Roll 90° (Solo)
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* @value 31 Pitch 90°, Roll 270°
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* @value 32 Pitch 9°, Yaw 180°
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* @value 33 Pitch 45°
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* @value 34 Pitch 315°
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* @value 35 Roll 90°, Yaw 270°
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*
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* @reboot_required true
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*
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
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/**
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* Board rotation Y (Pitch) offset
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*
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* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
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/**
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* Board rotation X (Roll) offset
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*
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* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
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/**
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* Board rotation Z (YAW) offset
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*
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* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
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* to fine tune the board offset in the event of misalignment.
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*
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* @unit deg
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
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/**
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* Thermal control of sensor temperature
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*
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* @value -1 Thermal control unavailable
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* @value 0 Thermal control off
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* @value 1 Thermal control enabled
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* @category system
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
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/**
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* Driver level notch frequency for gyro
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*
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* The center frequency for the 2nd order notch filter on the gyro driver.
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* This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
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* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
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* See "IMU_GYRO_NF_BW" to set the bandwidth of the filter.
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*
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* @min 0
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_GYRO_NF_FREQ, 0.0f);
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/**
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* Driver level notch bandwidth for gyro
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*
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* The frequency width of the stop band for the 2nd order notch filter on the gyro driver.
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* See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency.
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*
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* @min 0
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* @max 100
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
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/**
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* Driver level cutoff frequency for gyro
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*
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* The cutoff frequency for the 2nd order butterworth filter on the gyro driver.
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* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
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*
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* @min 0
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
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/**
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* Gyro control data maximum publication rate
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*
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* This is the maximum rate the gyro control data (sensor_gyro_control) will be allowed to publish at.
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* Set to 0 to disable and publish at the native sensor sample rate.
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*
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* @min 0
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* @max 2000
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* @value 0 0 (no limit)
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* @value 50 50 Hz
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* @value 250 250 Hz
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* @value 400 400 Hz
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* @value 1000 1000 Hz
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* @value 2000 2000 Hz
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(IMU_GYRO_RATEMAX, 0);
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/**
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* Driver level cutoff frequency for accel
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*
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* The cutoff frequency for the 2nd order butterworth filter on the accel driver.
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* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
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*
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* @min 0
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
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