/
gyro.c
1290 lines (1115 loc) · 43.5 KB
/
gyro.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include <stdlib.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/filter.h"
#include "config/feature.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/gyrodev.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20649.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#ifdef USE_GYRO_L3GD20
#include "drivers/accgyro/accgyro_spi_l3gd20.h"
#endif
#ifdef USE_GYRO_L3G4200D
#include "drivers/accgyro_legacy/accgyro_l3g4200d.h"
#endif
#include "drivers/accgyro/gyro_sync.h"
#include "drivers/bus_spi.h"
#include "drivers/io.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "io/beeper.h"
#include "io/statusindicator.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#ifdef USE_GYRO_DATA_ANALYSE
#include "sensors/gyroanalyse.h"
#endif
#include "sensors/rpm_filter.h"
#include "sensors/sensors.h"
#if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6500)))
#define USE_GYRO_SLEW_LIMITER
#endif
FAST_RAM_ZERO_INIT gyro_t gyro;
static FAST_RAM_ZERO_INIT uint8_t gyroDebugMode;
static uint8_t gyroToUse = 0;
static FAST_RAM_ZERO_INIT bool overflowDetected;
#ifdef USE_GYRO_OVERFLOW_CHECK
static FAST_RAM_ZERO_INIT uint8_t overflowAxisMask;
#endif
#ifdef USE_YAW_SPIN_RECOVERY
static FAST_RAM_ZERO_INIT bool yawSpinDetected;
#endif
static FAST_RAM_ZERO_INIT float accumulatedMeasurements[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT float gyroPrevious[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT timeUs_t accumulatedMeasurementTimeUs;
static FAST_RAM_ZERO_INIT timeUs_t accumulationLastTimeSampledUs;
static FAST_RAM_ZERO_INIT int16_t gyroSensorTemperature;
static bool gyroHasOverflowProtection = true;
static FAST_RAM_ZERO_INIT bool useDualGyroDebugging;
typedef struct gyroCalibration_s {
float sum[XYZ_AXIS_COUNT];
stdev_t var[XYZ_AXIS_COUNT];
int32_t cyclesRemaining;
} gyroCalibration_t;
bool firstArmingCalibrationWasStarted = false;
typedef union gyroLowpassFilter_u {
pt1Filter_t pt1FilterState;
biquadFilter_t biquadFilterState;
} gyroLowpassFilter_t;
typedef struct gyroSensor_s {
gyroDev_t gyroDev;
gyroCalibration_t calibration;
// lowpass gyro soft filter
filterApplyFnPtr lowpassFilterApplyFn;
gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT];
// lowpass2 gyro soft filter
filterApplyFnPtr lowpass2FilterApplyFn;
gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT];
// notch filters
filterApplyFnPtr notchFilter1ApplyFn;
biquadFilter_t notchFilter1[XYZ_AXIS_COUNT];
filterApplyFnPtr notchFilter2ApplyFn;
biquadFilter_t notchFilter2[XYZ_AXIS_COUNT];
filterApplyFnPtr notchFilterDynApplyFn;
filterApplyFnPtr notchFilterDynApplyFn2;
biquadFilter_t notchFilterDyn[XYZ_AXIS_COUNT];
biquadFilter_t notchFilterDyn2[XYZ_AXIS_COUNT];
// overflow and recovery
timeUs_t overflowTimeUs;
bool overflowDetected;
#ifdef USE_YAW_SPIN_RECOVERY
timeUs_t yawSpinTimeUs;
bool yawSpinDetected;
#endif // USE_YAW_SPIN_RECOVERY
#ifdef USE_GYRO_DATA_ANALYSE
#define DYNAMIC_NOTCH_DEFAULT_CENTER_HZ 350
#define DYNAMIC_NOTCH_DEFAULT_CUTOFF_HZ 300
gyroAnalyseState_t gyroAnalyseState;
#endif
flight_dynamics_index_t gyroDebugAxis;
} gyroSensor_t;
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor1;
#ifdef USE_MULTI_GYRO
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor2;
#endif
#ifdef UNIT_TEST
STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyroSensor1;
STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyroSensor1.gyroDev;
#endif
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type, uint16_t lpfHz);
#define DEBUG_GYRO_CALIBRATION 3
#ifdef STM32F10X
#define GYRO_SYNC_DENOM_DEFAULT 8
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689)
#define GYRO_SYNC_DENOM_DEFAULT 1
#else
#define GYRO_SYNC_DENOM_DEFAULT 3
#endif
#define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980 // 97.5% full scale (1950dps for 2000dps gyro)
#define GYRO_OVERFLOW_RESET_THRESHOLD 30340 // 92.5% full scale (1850dps for 2000dps gyro)
PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 7);
#ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
#endif
void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
{
gyroConfig->gyroCalibrationDuration = 125; // 1.25 seconds
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lowpass_type = FILTER_PT1;
gyroConfig->gyro_lowpass_hz = 100;
gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 300;
gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0;
gyroConfig->gyro_soft_notch_cutoff_1 = 0;
gyroConfig->gyro_soft_notch_hz_2 = 0;
gyroConfig->gyro_soft_notch_cutoff_2 = 0;
gyroConfig->checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES;
gyroConfig->gyro_offset_yaw = 0;
gyroConfig->yaw_spin_recovery = true;
gyroConfig->yaw_spin_threshold = 1950;
gyroConfig->dyn_lpf_gyro_min_hz = 150;
gyroConfig->dyn_lpf_gyro_max_hz = 450;
gyroConfig->dyn_notch_range = DYN_NOTCH_RANGE_AUTO;
gyroConfig->dyn_notch_width_percent = 8;
gyroConfig->dyn_notch_q = 120;
gyroConfig->dyn_notch_min_hz = 150;
#ifdef USE_DYN_LPF
gyroConfig->gyro_lowpass_hz = 150;
gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass2_hz = 0;
#endif
gyroConfig->gyro_filter_debug_axis = FD_ROLL;
}
#ifdef USE_MULTI_GYRO
#define ACTIVE_GYRO ((gyroToUse == GYRO_CONFIG_USE_GYRO_2) ? &gyroSensor2 : &gyroSensor1)
#else
#define ACTIVE_GYRO (&gyroSensor1)
#endif
const busDevice_t *gyroSensorBus(void)
{
return &ACTIVE_GYRO->gyroDev.bus;
}
#ifdef USE_GYRO_REGISTER_DUMP
const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
{
#ifdef USE_MULTI_GYRO
if (whichSensor == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
}
#else
UNUSED(whichSensor);
#endif
return &gyroSensor1.gyroDev.bus;
}
#endif // USE_GYRO_REGISTER_DUMP
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
return &ACTIVE_GYRO->gyroDev.mpuDetectionResult;
}
STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
{
gyroHardware_e gyroHardware = GYRO_DEFAULT;
switch (gyroHardware) {
case GYRO_DEFAULT:
FALLTHROUGH;
#ifdef USE_GYRO_MPU6050
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3G4200D
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_MPU3050
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_L3GD20
case GYRO_L3GD20:
if (l3gd20GyroDetect(dev)) {
gyroHardware = GYRO_L3GD20;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_MPU6000
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
break;
}
FALLTHROUGH;
#endif
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
case GYRO_MPU6500:
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
switch (dev->mpuDetectionResult.sensor) {
case MPU_9250_SPI:
gyroHardware = GYRO_MPU9250;
break;
case ICM_20601_SPI:
gyroHardware = GYRO_ICM20601;
break;
case ICM_20602_SPI:
gyroHardware = GYRO_ICM20602;
break;
case ICM_20608_SPI:
gyroHardware = GYRO_ICM20608G;
break;
default:
gyroHardware = GYRO_MPU6500;
}
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_MPU9250
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU9250;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_ICM20649
case GYRO_ICM20649:
if (icm20649SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20649;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_GYRO_SPI_ICM20689
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_ACCGYRO_BMI160
case GYRO_BMI160:
if (bmi160SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI160;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
FALLTHROUGH;
#endif
default:
gyroHardware = GYRO_NONE;
}
if (gyroHardware != GYRO_NONE) {
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
}
return gyroHardware;
}
static void gyroPreInitSensor(const gyroDeviceConfig_t *config)
{
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
mpuPreInit(config);
#else
UNUSED(config);
#endif
}
static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
gyroSensor->gyroDebugAxis = gyroConfig()->gyro_filter_debug_axis;
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
gyroSensor->gyroDev.gyroAlign = config->align;
gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20)
mpuDetect(&gyroSensor->gyroDev, config);
#endif
const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
gyroSensor->gyroDev.gyroHardware = gyroHardware;
if (gyroHardware == GYRO_NONE) {
return false;
}
// Must set gyro targetLooptime before gyroDev.init and initialisation of filters
gyro.targetLooptime = gyroSetSampleRate(&gyroSensor->gyroDev, gyroConfig()->gyro_hardware_lpf, gyroConfig()->gyro_sync_denom);
gyroSensor->gyroDev.hardware_lpf = gyroConfig()->gyro_hardware_lpf;
gyroSensor->gyroDev.initFn(&gyroSensor->gyroDev);
// As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug
// Any gyro not explicitly defined will default to not having built-in overflow protection as a safe alternative.
switch (gyroHardware) {
case GYRO_NONE: // Won't ever actually get here, but included to account for all gyro types
case GYRO_DEFAULT:
case GYRO_FAKE:
case GYRO_MPU6050:
case GYRO_L3G4200D:
case GYRO_MPU3050:
case GYRO_L3GD20:
case GYRO_BMI160:
case GYRO_MPU6000:
case GYRO_MPU6500:
case GYRO_MPU9250:
gyroSensor->gyroDev.gyroHasOverflowProtection = true;
break;
case GYRO_ICM20601:
case GYRO_ICM20602:
case GYRO_ICM20608G:
case GYRO_ICM20649: // we don't actually know if this is affected, but as there are currently no flight controllers using it we err on the side of caution
case GYRO_ICM20689:
gyroSensor->gyroDev.gyroHasOverflowProtection = false;
break;
default:
gyroSensor->gyroDev.gyroHasOverflowProtection = false; // default catch for newly added gyros until proven to be unaffected
break;
}
gyroInitSensorFilters(gyroSensor);
#ifdef USE_GYRO_DATA_ANALYSE
gyroDataAnalyseStateInit(&gyroSensor->gyroAnalyseState, gyro.targetLooptime);
#endif
return true;
}
void gyroPreInit(void)
{
gyroPreInitSensor(gyroDeviceConfig(0));
#ifdef USE_MULTI_GYRO
gyroPreInitSensor(gyroDeviceConfig(1));
#endif
}
bool gyroInit(void)
{
#ifdef USE_GYRO_OVERFLOW_CHECK
if (gyroConfig()->checkOverflow == GYRO_OVERFLOW_CHECK_YAW) {
overflowAxisMask = GYRO_OVERFLOW_Z;
} else if (gyroConfig()->checkOverflow == GYRO_OVERFLOW_CHECK_ALL_AXES) {
overflowAxisMask = GYRO_OVERFLOW_X | GYRO_OVERFLOW_Y | GYRO_OVERFLOW_Z;
} else {
overflowAxisMask = 0;
}
#endif
gyroDebugMode = DEBUG_NONE;
useDualGyroDebugging = false;
switch (debugMode) {
case DEBUG_FFT:
case DEBUG_FFT_FREQ:
case DEBUG_GYRO_RAW:
case DEBUG_GYRO_SCALED:
case DEBUG_GYRO_FILTERED:
case DEBUG_DYN_LPF:
gyroDebugMode = debugMode;
break;
case DEBUG_DUAL_GYRO:
case DEBUG_DUAL_GYRO_COMBINE:
case DEBUG_DUAL_GYRO_DIFF:
case DEBUG_DUAL_GYRO_RAW:
useDualGyroDebugging = true;
break;
}
firstArmingCalibrationWasStarted = false;
enum {
NO_GYROS_DETECTED = 0,
DETECTED_GYRO_1 = (1 << 0),
DETECTED_GYRO_2 = (1 << 1),
};
uint8_t detectionFlags = NO_GYROS_DETECTED;
gyroToUse = gyroConfig()->gyro_to_use;
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
if (gyroInitSensor(&gyroSensor1, gyroDeviceConfig(0))) {
gyroHasOverflowProtection = gyroHasOverflowProtection && gyroSensor1.gyroDev.gyroHasOverflowProtection;
detectionFlags |= DETECTED_GYRO_1;
}
}
#ifdef USE_MULTI_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
if (gyroInitSensor(&gyroSensor2, gyroDeviceConfig(1))) {
gyroHasOverflowProtection = gyroHasOverflowProtection && gyroSensor2.gyroDev.gyroHasOverflowProtection;
detectionFlags |= DETECTED_GYRO_2;
}
}
if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH && detectionFlags != (DETECTED_GYRO_1 | DETECTED_GYRO_2)) {
// at least one gyro is missing.
if (detectionFlags & DETECTED_GYRO_1) {
gyroToUse = GYRO_CONFIG_USE_GYRO_1;
gyroConfigMutable()->gyro_to_use = GYRO_CONFIG_USE_GYRO_1;
detectedSensors[SENSOR_INDEX_GYRO] = gyroSensor1.gyroDev.gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
if (detectionFlags & DETECTED_GYRO_2) {
gyroToUse = GYRO_CONFIG_USE_GYRO_2;
gyroConfigMutable()->gyro_to_use = GYRO_CONFIG_USE_GYRO_2;
detectedSensors[SENSOR_INDEX_GYRO] = gyroSensor2.gyroDev.gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
}
// Only allow using both gyros simultaneously if they are the same hardware type.
// If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.
if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
if (gyroSensor1.gyroDev.gyroHardware != gyroSensor2.gyroDev.gyroHardware) {
gyroToUse = GYRO_CONFIG_USE_GYRO_1;
gyroConfigMutable()->gyro_to_use = GYRO_CONFIG_USE_GYRO_1;
detectedSensors[SENSOR_INDEX_GYRO] = gyroSensor1.gyroDev.gyroHardware;
sensorsSet(SENSOR_GYRO);
}
}
#endif
return detectionFlags != NO_GYROS_DETECTED;
}
#ifdef USE_DYN_LPF
static FAST_RAM uint8_t dynLpfFilter = DYN_LPF_NONE;
static FAST_RAM_ZERO_INIT uint16_t dynLpfMin;
static FAST_RAM_ZERO_INIT uint16_t dynLpfMax;
static void dynLpfFilterInit()
{
if (gyroConfig()->dyn_lpf_gyro_min_hz > 0) {
switch (gyroConfig()->gyro_lowpass_type) {
case FILTER_PT1:
dynLpfFilter = DYN_LPF_PT1;
break;
case FILTER_BIQUAD:
dynLpfFilter = DYN_LPF_BIQUAD;
break;
default:
dynLpfFilter = DYN_LPF_NONE;
break;
}
} else {
dynLpfFilter = DYN_LPF_NONE;
}
dynLpfMin = gyroConfig()->dyn_lpf_gyro_min_hz;
dynLpfMax = gyroConfig()->dyn_lpf_gyro_max_hz;
}
#endif
void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type, uint16_t lpfHz)
{
filterApplyFnPtr *lowpassFilterApplyFn;
gyroLowpassFilter_t *lowpassFilter = NULL;
switch (slot) {
case FILTER_LOWPASS:
lowpassFilterApplyFn = &gyroSensor->lowpassFilterApplyFn;
lowpassFilter = gyroSensor->lowpassFilter;
break;
case FILTER_LOWPASS2:
lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn;
lowpassFilter = gyroSensor->lowpass2Filter;
break;
default:
return;
}
// Establish some common constants
const uint32_t gyroFrequencyNyquist = 1000000 / 2 / gyro.targetLooptime;
const float gyroDt = gyro.targetLooptime * 1e-6f;
// Gain could be calculated a little later as it is specific to the pt1/bqrcf2/fkf branches
const float gain = pt1FilterGain(lpfHz, gyroDt);
// Dereference the pointer to null before checking valid cutoff and filter
// type. It will be overridden for positive cases.
*lowpassFilterApplyFn = nullFilterApply;
// If lowpass cutoff has been specified and is less than the Nyquist frequency
if (lpfHz && lpfHz <= gyroFrequencyNyquist) {
switch (type) {
case FILTER_PT1:
*lowpassFilterApplyFn = (filterApplyFnPtr) pt1FilterApply;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pt1FilterInit(&lowpassFilter[axis].pt1FilterState, gain);
}
break;
case FILTER_BIQUAD:
#ifdef USE_DYN_LPF
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApplyDF1;
#else
*lowpassFilterApplyFn = (filterApplyFnPtr) biquadFilterApply;
#endif
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInitLPF(&lowpassFilter[axis].biquadFilterState, lpfHz, gyro.targetLooptime);
}
break;
}
}
}
static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notchCutoffHz)
{
const uint32_t gyroFrequencyNyquist = 1000000 / 2 / gyro.targetLooptime;
if (notchHz > gyroFrequencyNyquist) {
if (notchCutoffHz < gyroFrequencyNyquist) {
notchHz = gyroFrequencyNyquist;
} else {
notchHz = 0;
}
}
return notchHz;
}
#if defined(USE_GYRO_SLEW_LIMITER)
void gyroInitSlewLimiter(gyroSensor_t *gyroSensor) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroSensor->gyroDev.gyroADCRawPrevious[axis] = 0;
}
}
#endif
static void gyroInitFilterNotch1(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t notchCutoffHz)
{
gyroSensor->notchFilter1ApplyFn = nullFilterApply;
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&gyroSensor->notchFilter1[axis], notchHz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
static void gyroInitFilterNotch2(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t notchCutoffHz)
{
gyroSensor->notchFilter2ApplyFn = nullFilterApply;
notchHz = calculateNyquistAdjustedNotchHz(notchHz, notchCutoffHz);
if (notchHz != 0 && notchCutoffHz != 0) {
gyroSensor->notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
const float notchQ = filterGetNotchQ(notchHz, notchCutoffHz);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&gyroSensor->notchFilter2[axis], notchHz, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
#ifdef USE_GYRO_DATA_ANALYSE
static bool isDynamicFilterActive(void)
{
return featureIsEnabled(FEATURE_DYNAMIC_FILTER);
}
static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
{
gyroSensor->notchFilterDynApplyFn = nullFilterApply;
gyroSensor->notchFilterDynApplyFn2 = nullFilterApply;
if (isDynamicFilterActive()) {
gyroSensor->notchFilterDynApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1; // must be this function, not DF2
if(gyroConfig()->dyn_notch_width_percent != 0) {
gyroSensor->notchFilterDynApplyFn2 = (filterApplyFnPtr)biquadFilterApplyDF1; // must be this function, not DF2
}
const float notchQ = filterGetNotchQ(DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, DYNAMIC_NOTCH_DEFAULT_CUTOFF_HZ); // any defaults OK here
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
biquadFilterInit(&gyroSensor->notchFilterDyn[axis], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, gyro.targetLooptime, notchQ, FILTER_NOTCH);
biquadFilterInit(&gyroSensor->notchFilterDyn2[axis], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, gyro.targetLooptime, notchQ, FILTER_NOTCH);
}
}
}
#endif
static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
{
#if defined(USE_GYRO_SLEW_LIMITER)
gyroInitSlewLimiter(gyroSensor);
#endif
uint16_t gyro_lowpass_hz = gyroConfig()->gyro_lowpass_hz;
#ifdef USE_DYN_LPF
gyro_lowpass_hz = MAX(gyroConfig()->gyro_lowpass_hz, gyroConfig()->dyn_lpf_gyro_min_hz);
#endif
gyroInitLowpassFilterLpf(
gyroSensor,
FILTER_LOWPASS,
gyroConfig()->gyro_lowpass_type,
gyro_lowpass_hz
);
gyroInitLowpassFilterLpf(
gyroSensor,
FILTER_LOWPASS2,
gyroConfig()->gyro_lowpass2_type,
gyroConfig()->gyro_lowpass2_hz
);
gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
#ifdef USE_GYRO_DATA_ANALYSE
gyroInitFilterDynamicNotch(gyroSensor);
#endif
#ifdef USE_DYN_LPF
dynLpfFilterInit();
#endif
}
void gyroInitFilters(void)
{
gyroInitSensorFilters(&gyroSensor1);
#ifdef USE_MULTI_GYRO
gyroInitSensorFilters(&gyroSensor2);
#endif
}
FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
{
return gyroSensor->calibration.cyclesRemaining == 0;
}
FAST_CODE bool isGyroCalibrationComplete(void)
{
switch (gyroToUse) {
default:
case GYRO_CONFIG_USE_GYRO_1: {
return isGyroSensorCalibrationComplete(&gyroSensor1);
}
#ifdef USE_MULTI_GYRO
case GYRO_CONFIG_USE_GYRO_2: {
return isGyroSensorCalibrationComplete(&gyroSensor2);
}
case GYRO_CONFIG_USE_GYRO_BOTH: {
return isGyroSensorCalibrationComplete(&gyroSensor1) && isGyroSensorCalibrationComplete(&gyroSensor2);
}
#endif
}
}
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->cyclesRemaining == 1;
}
static int32_t gyroCalculateCalibratingCycles(void)
{
return (gyroConfig()->gyroCalibrationDuration * 10000) / gyro.targetLooptime;
}
static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
return gyroCalibration->cyclesRemaining == gyroCalculateCalibratingCycles();
}
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{
gyroSensor->calibration.cyclesRemaining = gyroCalculateCalibratingCycles();
}
void gyroStartCalibration(bool isFirstArmingCalibration)
{
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor1);
#ifdef USE_MULTI_GYRO
gyroSetCalibrationCycles(&gyroSensor2);
#endif
if (isFirstArmingCalibration) {
firstArmingCalibrationWasStarted = true;
}
}
}
bool isFirstArmingGyroCalibrationRunning(void)
{
return firstArmingCalibrationWasStarted && !isGyroCalibrationComplete();
}
STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
// Reset g[axis] at start of calibration
if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
gyroSensor->calibration.sum[axis] = 0.0f;
devClear(&gyroSensor->calibration.var[axis]);
// gyroZero is set to zero until calibration complete
gyroSensor->gyroDev.gyroZero[axis] = 0.0f;
}
// Sum up CALIBRATING_GYRO_TIME_US readings
gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
// DEBUG_GYRO_CALIBRATION records the standard deviation of roll
// into the spare field - debug[3], in DEBUG_GYRO_RAW
if (axis == X) {
DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
}
// check deviation and startover in case the model was moved
if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {
gyroSetCalibrationCycles(gyroSensor);
return;
}
// please take care with exotic boardalignment !!
gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
if (axis == Z) {
gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
}
}
}
if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
if (!firstArmingCalibrationWasStarted || (getArmingDisableFlags() & ~ARMING_DISABLED_CALIBRATING) == 0) {
beeper(BEEPER_GYRO_CALIBRATED);
}
}
--gyroSensor->calibration.cyclesRemaining;
}
#if defined(USE_GYRO_SLEW_LIMITER)
FAST_CODE int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
{
int32_t ret = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
if (gyroConfig()->checkOverflow || gyroHasOverflowProtection) {
// don't use the slew limiter if overflow checking is on or gyro is not subject to overflow bug
return ret;
}
if (abs(ret - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
// there has been a large change in value, so assume overflow has occurred and return the previous value
ret = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
} else {
gyroSensor->gyroDev.gyroADCRawPrevious[axis] = ret;
}
return ret;
}
#endif
#ifdef USE_GYRO_OVERFLOW_CHECK
static FAST_CODE_NOINLINE void handleOverflow(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyroSensor->gyroDev.scale;
if ((abs(gyroSensor->gyroDev.gyroADCf[X]) < gyroOverflowResetRate)
&& (abs(gyroSensor->gyroDev.gyroADCf[Y]) < gyroOverflowResetRate)
&& (abs(gyroSensor->gyroDev.gyroADCf[Z]) < gyroOverflowResetRate)) {
// if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected
// reset requires good OK values on all axes
if (cmpTimeUs(currentTimeUs, gyroSensor->overflowTimeUs) > 50000) {
gyroSensor->overflowDetected = false;
}
} else {
// not a consecutive OK value, so reset the overflow time
gyroSensor->overflowTimeUs = currentTimeUs;
}
}
static FAST_CODE void checkForOverflow(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
// check for overflow to handle Yaw Spin To The Moon (YSTTM)
// ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
// This can cause an overflow and sign reversal in the output.
// Overflow and sign reversal seems to result in a gyro value of +1996 or -1996.
if (gyroSensor->overflowDetected) {
handleOverflow(gyroSensor, currentTimeUs);
} else {
#ifndef SIMULATOR_BUILD
// check for overflow in the axes set in overflowAxisMask
gyroOverflow_e overflowCheck = GYRO_OVERFLOW_NONE;
const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyroSensor->gyroDev.scale;
if (abs(gyroSensor->gyroDev.gyroADCf[X]) > gyroOverflowTriggerRate) {
overflowCheck |= GYRO_OVERFLOW_X;
}
if (abs(gyroSensor->gyroDev.gyroADCf[Y]) > gyroOverflowTriggerRate) {
overflowCheck |= GYRO_OVERFLOW_Y;
}
if (abs(gyroSensor->gyroDev.gyroADCf[Z]) > gyroOverflowTriggerRate) {
overflowCheck |= GYRO_OVERFLOW_Z;
}
if (overflowCheck & overflowAxisMask) {
gyroSensor->overflowDetected = true;
gyroSensor->overflowTimeUs = currentTimeUs;
#ifdef USE_YAW_SPIN_RECOVERY
gyroSensor->yawSpinDetected = false;
#endif // USE_YAW_SPIN_RECOVERY
}
#endif // SIMULATOR_BUILD
}
}
#endif // USE_GYRO_OVERFLOW_CHECK
#ifdef USE_YAW_SPIN_RECOVERY
static FAST_CODE_NOINLINE void handleYawSpin(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
const float yawSpinResetRate = gyroConfig()->yaw_spin_threshold - 100.0f;
if (abs(gyroSensor->gyroDev.gyroADCf[Z]) < yawSpinResetRate) {
// testing whether 20ms of consecutive OK gyro yaw values is enough
if (cmpTimeUs(currentTimeUs, gyroSensor->yawSpinTimeUs) > 20000) {
gyroSensor->yawSpinDetected = false;
}
} else {
// reset the yaw spin time
gyroSensor->yawSpinTimeUs = currentTimeUs;
}
}
static FAST_CODE void checkForYawSpin(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
{
// if not in overflow mode, handle yaw spins above threshold
#ifdef USE_GYRO_OVERFLOW_CHECK
if (gyroSensor->overflowDetected) {
gyroSensor->yawSpinDetected = false;
return;
}
#endif // USE_GYRO_OVERFLOW_CHECK
if (gyroSensor->yawSpinDetected) {
handleYawSpin(gyroSensor, currentTimeUs);
} else {
#ifndef SIMULATOR_BUILD
// check for spin on yaw axis only
if (abs(gyroSensor->gyroDev.gyroADCf[Z]) > gyroConfig()->yaw_spin_threshold) {
gyroSensor->yawSpinDetected = true;
gyroSensor->yawSpinTimeUs = currentTimeUs;
}
#endif // SIMULATOR_BUILD
}
}
#endif // USE_YAW_SPIN_RECOVERY
#define GYRO_FILTER_FUNCTION_NAME filterGyro