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option to apply dynamic-notches to RP vs normal/default RPY#881

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nerdCopter merged 7 commits intomasterfrom
20230329_2D-3D_dynamicFilter
Oct 25, 2023
Merged

option to apply dynamic-notches to RP vs normal/default RPY#881
nerdCopter merged 7 commits intomasterfrom
20230329_2D-3D_dynamicFilter

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@nerdCopter nerdCopter commented Mar 30, 2023 •
edited
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  • Allow dynamic_filter on Roll/Pitch Only. set dynamic_gyro_notch_axis = [RP|RPY]
  • Default is RPY.
  • The idea is maybe less delay on quads that dont need it on Yaw.
  • The idea is maybe very high Gyro LPF on Roll/Pitch, and normal Gyro LPF on Yaw. (when using notch count 3)
  • OSD config
  • added and fixed #ifdef USE_GYRO_DATA_ANALYSE gating throughout firmware-code.

for some reason "AXIS" is truncated to "AXI" -- confirmed to be a general issue, not specific to this PR.
image
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@nerdCopter nerdCopter changed the title option to apply dynamic-notches to RP vs RPY option to apply dynamic-notches to RP vs normal/default RPY Mar 30, 2023
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nerdCopter commented Mar 30, 2023 •
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set dynamic_gyro_notch_mode = RP

ApexF7, Apex 6" Clone, 743g AUW:
Hover: EMUF_BLACKBOX_LOG_nerdAPEX6_20230330_174919_Hover_dynFilter-RP-only_NotchCount-1.BBL.zip
Full Flights: EMUF_BLACKBOX_LOG_nerdAPEX6_20230402_145310_felt_good_but_slow.BBL.zip

indirectly related:

set dynamic_gyro_notch_q = 600
set dynamic_gyro_notch_count = 1
set dterm_dyn_notch_enable = ON
set dterm_dyn_notch_q = 350

Helio Spring v1, Screech 6", 731g AUW:
Hover: EMUF_BLACKBOX_LOG_Screech6_20230402_103728_hover_crossarm_modded.BBL.zip
Full Flights: EMUF_BLACKBOX_LOG_Screech6_20230402_144223_felt_great_but_saw_vibes.BBL.zip

indirectly related:

set dynamic_gyro_notch_q = 600
set dynamic_gyro_notch_count = 1
set dterm_dyn_notch_enable = ON
set dterm_dyn_notch_q = 325

@nerdCopter nerdCopter force-pushed the 20230329_2D-3D_dynamicFilter branch from 7e848ae to dbf64f5 Compare May 3, 2023 14:14
@nerdCopter nerdCopter added experimental enhancement Minor enhancement to code labels May 4, 2023
@nerdCopter nerdCopter marked this pull request as ready for review October 16, 2023 18:59
@nerdCopter nerdCopter marked this pull request as draft October 24, 2023 20:23
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nerdCopter commented Oct 25, 2023

Tested #undef USE_GYRO_DATA_ANALYSE on a target-build:

  • Configurator MSP fully works.
  • OSD is gated proper.
  • CLI parameters are gated proper.

image

[...]
# master
[...]
# set dynamic_gyro_notch_q = 400              ##proper error
###ERROR### Invalid name

# set dynamic_gyro_notch_count = 2            ##proper error
###ERROR### Invalid name

# set dynamic_gyro_notch_min_hz = 151         ##proper error
###ERROR### Invalid name

# set dynamic_gyro_notch_max_hz = 599         ##proper error
###ERROR### Invalid name

# set dynamic_gyro_notch_axis = RP            ##proper error
###ERROR### Invalid name
[...]

# profile 0
profile 0

# set dterm_dyn_notch_enable = ON             ##proper error
###ERROR### Invalid name

# set dterm_dyn_notch_q = 350                 ##proper error
###ERROR### Invalid name
[...]

@nerdCopter nerdCopter marked this pull request as ready for review October 25, 2023 20:16
@nerdCopter nerdCopter merged commit 6ba5446 into master Oct 25, 2023
@nerdCopter nerdCopter deleted the 20230329_2D-3D_dynamicFilter branch October 25, 2023 20:17
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