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DRAFT: RPM Filter Refactor #194

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DRAFT: RPM Filter Refactor #194

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fefc7ef
Refactor RPM notch filter
pmattila Nov 19, 2024
29dd9e8
Add BLACKBOX_PRINT_HEADER_LINE_ARRAY in blackbox.c
pmattila Dec 18, 2024
3d8f422
Add Blackbox headers for RPM filter
pmattila Dec 13, 2024
19e4970
Amend RPM filter presets
pmattila Dec 13, 2024
670157c
Nuke MSP changes
pmattila Nov 27, 2024
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68 changes: 30 additions & 38 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1506,9 +1506,17 @@ static char *blackboxGetStartDateTime(char *buf)
#define BLACKBOX_PRINT_HEADER_LINE(name, format, ...) case __COUNTER__: \
blackboxPrintfHeaderLine(name, format, __VA_ARGS__); \
break;
#define BLACKBOX_PRINT_HEADER_LINE_ARRAY(name, count, array) case __COUNTER__: { \
char *ptr = buf; \
for (int i=0; i<(count); i++) { \
if (i > 0) *ptr++ = ','; \
ptr += tfp_sprintf(ptr, "%d", array[i]); \
} \
blackboxPrintfHeaderLine(name, buf); \
break; }
#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
{__VA_ARGS__}; \
break;
{__VA_ARGS__}; \
break;
#endif

/**
Expand Down Expand Up @@ -1681,42 +1689,26 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d", motorConfig()->dev.useDshotTelemetry);
#endif
#ifdef USE_RPM_FILTER
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
char *ptr = buf;
for (int i=0; i<RPM_FILTER_BANK_COUNT; i++) {
if (i > 0)
*ptr++ = ',';
ptr += tfp_sprintf(ptr, "%d", rpmFilterConfig()->filter_bank_rpm_source[i]);
}
blackboxPrintfHeaderLine("gyro_rpm_filter_bank_rpm_source", buf);
);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
char *ptr = buf;
for (int i=0; i<RPM_FILTER_BANK_COUNT; i++) {
if (i > 0)
*ptr++ = ',';
ptr += tfp_sprintf(ptr, "%d", rpmFilterConfig()->filter_bank_rpm_ratio[i]);
}
blackboxPrintfHeaderLine("gyro_rpm_filter_bank_rpm_ratio", buf);
);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
char *ptr = buf;
for (int i=0; i<RPM_FILTER_BANK_COUNT; i++) {
if (i > 0)
*ptr++ = ',';
ptr += tfp_sprintf(ptr, "%d", rpmFilterConfig()->filter_bank_rpm_limit[i]);
}
blackboxPrintfHeaderLine("gyro_rpm_filter_bank_rpm_limit", buf);
);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
char *ptr = buf;
for (int i=0; i<RPM_FILTER_BANK_COUNT; i++) {
if (i > 0)
*ptr++ = ',';
ptr += tfp_sprintf(ptr, "%d", rpmFilterConfig()->filter_bank_notch_q[i]);
}
blackboxPrintfHeaderLine("gyro_rpm_filter_bank_notch_q", buf);
);
BLACKBOX_PRINT_HEADER_LINE("gyro_rpm_notch_preset", "%d", rpmFilterConfig()->preset);
BLACKBOX_PRINT_HEADER_LINE("gyro_rpm_notch_min_hz", "%d", rpmFilterConfig()->min_hz);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_source_pitch",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_source[FD_PITCH]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_center_pitch",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_center[FD_PITCH]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_q_pitch",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_q[FD_PITCH]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_source_roll",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_source[FD_ROLL]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_center_roll",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_center[FD_ROLL]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_q_roll",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_q[FD_ROLL]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_source_yaw",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_source[FD_YAW]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_center_yaw",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_center[FD_YAW]);
BLACKBOX_PRINT_HEADER_LINE_ARRAY("gyro_rpm_notch_q_yaw",
RPM_FILTER_NOTCH_COUNT, rpmFilterConfig()->custom.notch_q[FD_YAW]);
#endif
#if defined(USE_ACC)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_LPF_HZ, "%d", accelerometerConfig()->acc_lpf_hz * 100);
Expand Down
15 changes: 11 additions & 4 deletions src/main/cli/settings.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1694,10 +1694,17 @@ const clivalue_t valueTable[] = {
#endif

#ifdef USE_RPM_FILTER
{ "gyro_rpm_filter_bank_rpm_source", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_BANK_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, filter_bank_rpm_source) },
{ "gyro_rpm_filter_bank_rpm_ratio", VAR_UINT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_BANK_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, filter_bank_rpm_ratio) },
{ "gyro_rpm_filter_bank_rpm_limit", VAR_UINT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_BANK_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, filter_bank_rpm_limit) },
{ "gyro_rpm_filter_bank_notch_q", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_BANK_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, filter_bank_notch_q) },
{ "gyro_rpm_notch_preset", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 3 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, preset) },
{ "gyro_rpm_notch_min_hz", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 100 }, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, min_hz) },
{ "gyro_rpm_notch_source_pitch", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_source[PITCH]) },
{ "gyro_rpm_notch_center_pitch", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_center[PITCH]) },
{ "gyro_rpm_notch_q_pitch", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_q[PITCH]) },
{ "gyro_rpm_notch_source_roll", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_source[ROLL]) },
{ "gyro_rpm_notch_center_roll", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_center[ROLL]) },
{ "gyro_rpm_notch_q_roll", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_q[ROLL]) },
{ "gyro_rpm_notch_source_yaw", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_source[YAW]) },
{ "gyro_rpm_notch_center_yaw", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_center[YAW]) },
{ "gyro_rpm_notch_q_yaw", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = RPM_FILTER_NOTCH_COUNT, PG_RPM_FILTER_CONFIG, offsetof(rpmFilterConfig_t, custom.notch_q[YAW]) },
#endif

#ifdef USE_RX_FLYSKY
Expand Down
21 changes: 4 additions & 17 deletions src/main/config/config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -428,6 +428,10 @@ static void validateAndFixConfig(void)
featureDisableImmediate(FEATURE_RSSI_ADC);
#endif

#ifdef USE_RPM_FILTER
validateAndFixRPMFilterConfig();
#endif

#if defined(USE_BEEPER)
#ifdef USE_TIMER
if (beeperDevConfig()->frequency && !timerGetConfiguredByTag(beeperDevConfig()->ioTag)) {
Expand Down Expand Up @@ -664,23 +668,6 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->gyro_soft_notch_cutoff_2 >= gyroConfig()->gyro_soft_notch_hz_2) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
}

#ifdef USE_RPM_FILTER
if (featureIsConfigured(FEATURE_RPM_FILTER)) {
rpmFilterConfig_t *config = rpmFilterConfigMutable();
for (int index = 0; index < RPM_FILTER_BANK_COUNT; index++) {
if (config->filter_bank_rpm_source[index] == 0 ||
config->filter_bank_rpm_ratio[index] == 0 ||
config->filter_bank_notch_q[index] == 0)
{
config->filter_bank_rpm_source[index] = 0;
config->filter_bank_rpm_ratio[index] = 0;
config->filter_bank_rpm_limit[index] = 0;
config->filter_bank_notch_q[index] = 0;
}
}
}
#endif
}

#ifdef USE_BLACKBOX
Expand Down
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