Second PT1 on DTerm #5427

ctzsnooze · 2018-03-09T02:13:52Z

This PR allows the user to enable a second, independently configurable set point, PT1 type first order low-pass filter on DTerm.

This is very useful as a means of controlling because most noise in most logs arises from D, not P.

User sets dterm_lowpass_2 in CLI to the desired cut point. Double or triple the lower, standard Dterm lowpass is a good starting point. Default is 200.

The default is set to on, at twice the normal Dterm setpoint, and the default Dterm filter type is changed from biquad to PT1.

This provides greater Dterm cut than a single PT1, with twice the steepness of cut above the second setpoint. Modelling and logging shows significant reductions in higher frequency Dterm noise with only minor additional delay. Having a configurable setpoint allows the user to tune the least filtering that provides adequate noise reduction.

The biquad will provide very effective filtering but greater delay.

The following images show logs of four flights, the first panel shows that P noise is about the same on each, the second shows D noise with, from left to right, a single D PT1 at 100, and then the effect of adding a second D PT1 in series at 300, 400 and 500Hz. The second PT1 provides configurable and significant reductions in D noise from around to above its setpoint.

A spreadsheet that allows visualisation of the effect on random noise and other inputs is here https://www.dropbox.com/s/36c8ec55c3hmqoa/DualDFilters1.xlsx?dl=0

This PR replaces the default biquad filter with a second PT1 set to 200Hz. Basically allows the user to enable a second, set point configurable, PT1 type first order low-pass filter on DTerm. This is useful because most noise in most logs arises from D, not P. The default is set to on, at twice the normal Dterm setpoint. This provides greater Dterm cut than a single PT1, and twice the steepness of cut above the second setpoint. Modelling shows significant reductions in higher frequency Dterm noise with only minor additional delay. The improvement in noise performance will be less than for biquad, but the delay is considerably less. If with the default settings the overall noise improves a lot, it may be possible bring D both filtering set points to higher numbers (e.g. 140/280), or alternatively remove other filters such as the notch filters, while maintaining an adequate level of control over noise.

- fixed TBS BST "Rates" was missing problem

DieHertz · 2018-03-09T08:01:27Z

src/main/flight/pid.c

@@ -171,6 +172,8 @@ static FAST_RAM filterApplyFnPtr dtermNotchFilterApplyFn;
 static FAST_RAM void *dtermFilterNotch[2];
 static FAST_RAM filterApplyFnPtr dtermLpfApplyFn;
 static FAST_RAM void *dtermFilterLpf[2];
+static FAST_RAM filterApplyFnPtr dtermLpf2ApplyFn;
+static FAST_RAM void *dtermLpf2Filter[2];


Please make the naming uniform with existing code, e.gm dtermFilterLpf2 instead.
Or better, let's rename old and new to dtermLowpass and dtermLowpass2. Why have the world filter twice in one name? :)

lowpass/lowpass2 is also the naming I went with in the dual-stage PR.

makes me wonder if we should be using FAST_RAM in gyroSensor for similar storage as well...

Don't dive into that, I'm working on it as a part of F7 optimization branch

OK will change to to dtermLowpass and dtermLowpass2

DieHertz · 2018-03-09T08:01:27Z

src/main/interface/settings.c

@@ -637,6 +637,7 @@ const clivalue_t valueTable[] = {

 // PG_PID_PROFILE
    { "dterm_lowpass_type",         VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
+	{ "dterm_lowpass_2",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_2_hz) },


Should be dterm_lowpass2_type

With this implementation, the type can't be changed, it's set to a PT1, so the user enters the value in Hz.

Maybe it should be 'dterm_lowpass_2_hz'

No underscore before 2, please, to conform with gyro lowpass and notch

fujin · 2018-03-09T08:51:25Z

src/main/flight/pid.c

@@ -216,6 +219,18 @@ void pidInitFilters(const pidProfile_t *pidProfile)
    } else {
        dtermNotchFilterApplyFn = nullFilterApply;
    }
+
+    //extra Dterm PT1 filter
+	static pt1Filter_t ExtraPt1FilterD;


remove 'extra',

will we ever allow others than pt1?

I struggled with the name for this. At the moment it's an additional/extra Dterm filter, it is always a PT1, and the user can only enable/set the cutoff point.

I based the name on the current syntax for the yaw filter:

static pt1Filter_t pt1FilterYaw;

would dtermFilterLpf2 be better?

It may be possible to refactor the new gyroInitLowpassLpf() function written to support dual/multi-stage dterm/yaw lowpass of varying type, we can do further renaming there after this is tested/merged.

for now, I suggest, e.g.:

static filter_t *dtermLowpassState static pt1Filter_t dtermLowpass2State

Extra is fine for now as well if we want to revisit.

Hmm it has to be different from the other names for the same thing

fujin · 2018-03-09T08:52:05Z

src/main/flight/pid.h

@@ -75,6 +75,7 @@ typedef struct pidProfile_s {

    uint16_t yaw_lpf_hz;                    // Additional yaw filter when yaw axis too noisy
    uint16_t dterm_lpf_hz;                  // Delta Filter in hz
+    uint16_t dterm_lpf_2_hz;                // Extra PT1 Filter on D in hz


I'd been standardizing names and suggest the following:

dterm_lowpass_hz
dterm_lowpass2_hz

yes no problem

Actually no, decided to keep 'lpf' for the units themselves (the actual values), in CLI they are all 'lpf', so I will keep 'dterm_lpf_hz' etc here. I think perhaps it's easier to read that way, 'lpf' is a value, 'lowpass' is a filter.

I suggested renaming it in CLI as well to make it uniform with gyro_lowpass_hz

fujin · 2018-03-09T08:52:15Z

src/main/flight/pid.c

@@ -511,6 +526,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
            // apply filters
            float gyroRateFiltered = dtermNotchFilterApplyFn(dtermFilterNotch[axis], gyroRate);
            gyroRateFiltered = dtermLpfApplyFn(dtermFilterLpf[axis], gyroRateFiltered);
+			gyroRateFiltered = dtermLpf2ApplyFn(dtermLpf2Filter[axis], gyroRateFiltered);


whitespace/indentation here

fixed (I think, pls check)

fujin · 2018-03-09T08:52:36Z

src/main/flight/pid.c

+    //extra Dterm PT1 filter
+	static pt1Filter_t ExtraPt1FilterD;
+	if (pidProfile->dterm_lpf_2_hz == 0 || pidProfile->dterm_lpf_2_hz > pidFrequencyNyquist) {
+		dtermLpf2ApplyFn = nullFilterApply;


better to set this regardless and then do the following block in the if(){} instead of if/else.

fujin · 2018-03-09T08:52:57Z

src/main/flight/pid.c

@@ -105,9 +105,10 @@ void resetPidProfile(pidProfile_t *pidProfile)
        .pidSumLimitYaw = PIDSUM_LIMIT_YAW,
        .yaw_lpf_hz = 0,
        .dterm_lpf_hz = 100,    // filtering ON by default
+        .dterm_lpf_2_hz = 200,    // second PT1 ON by default


let's default to 0 (off) for now.

OK.

But if feedback is very positive during release candidate stage, the advantage of providing a suitable default is considerable for new users.

We are not at release candidate stage presently but I would support/entertain a PR setting more aggressive defaults leading up to (or during) that phase. The general guidance I have received is to implement the functionality (default to off).

fujin · 2018-03-09T08:53:15Z

src/main/flight/pid.c

        .dterm_notch_hz = 260,
        .dterm_notch_cutoff = 160,
-        .dterm_filter_type = FILTER_BIQUAD,
+        .dterm_filter_type = FILTER_PT1,


changing defaults is generally not recommended at the same time as implementation

I second that, let's collect more report first that for most people PT1+PT1 are better than Biquad

OK, but if the user feedback is very positive, then it would be best to enable it by default. I am very confident it is better with the suggested defaults than biquad, the current default.

ledvinap · 2018-03-09T09:07:32Z

@ctzsnooze : One property of chaining PT1 is that resulting filter Q is always 1/2 - critically damped. With higher Q (1/sqrt(2) for 2nd order Butterworth) it is possible to extend passband closer to cutoff frequency ...

fujin · 2018-03-09T09:26:20Z

Looks really promising! I'm excited to test this both in combination with and instead of dual-stage gyro LPF's. Great work.

Defaults restored to biquad with second PT1 off. ‘lpf’ retained as abbreviation for values, otherwise generally remove ‘Filter’ where redundant, replace ‘FilterLpf’ with ‘Lowpass’, etc, thanks Fujin and DieHertz

ctzsnooze · 2018-03-09T10:32:55Z

@Ledivinap yes that's a good thing about second order filters. I plan to compare a single biquad to dual separated PT1's, hopefully to establish cutoffs that actually give filtering equivalence in logs, and then to see if anyone can tell the difference in flight. Theoretically will be less delay from separated PT1's, but also less filtering. At least this build allows a bit more fine tuning of how we filter D.

DieHertz · 2018-03-09T10:36:49Z

src/main/flight/pid.c

@@ -105,6 +105,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
        .pidSumLimitYaw = PIDSUM_LIMIT_YAW,
        .yaw_lpf_hz = 0,
        .dterm_lpf_hz = 100,    // filtering ON by default
+        .dterm_lpf_2_hz = 0,    // second Dterm LPF OFF by default


There's still an underscore before 2

DieHertz · 2018-03-09T10:36:49Z

src/main/flight/pid.h

@@ -75,6 +75,7 @@ typedef struct pidProfile_s {

    uint16_t yaw_lpf_hz;                    // Additional yaw filter when yaw axis too noisy
    uint16_t dterm_lpf_hz;                  // Delta Filter in hz
+    uint16_t dterm_lpf_2_hz;                // Extra PT1 Filter on D in hz


I suggested renaming it in CLI as well to make it uniform with gyro_lowpass_hz

DieHertz · 2018-03-09T10:37:45Z

Thanks, there remains the point about underscore, and I think making lowpass naming conventions for gyro and Dterm uniform is beneficial.

ctzsnooze · 2018-03-09T10:43:56Z

Thanks for all your feedback Fujin and DieHertz! Definitely more readable.
I think I've implemented nearly all your suggestions, uploaded now, please check and see if anything else would help.
@DieHertz: For now I've left the 'value' type variable names in the form '_lpf_hz' to match current CLI nomenclature. Changing them all would be a big change, people updating would get non-matching fields from CLI dumps. Perhaps that could be separate pull request.
@fujin: there is still a bit of whitespace problem in some places, I'll fix that on the next push.

Thanks DieHertz

DieHertz · 2018-03-09T10:51:49Z

src/main/interface/settings.c

-	{ "dterm_lowpass_2",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_2_hz) },
-    { "dterm_lowpass",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
+    { "dterm_lowpass_hz",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
+	{ "dterm_lowpass2_hz",              VAR_INT16  | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf2_hz) },


Looks like there's a redundant indent :)

ctzsnooze · 2018-03-09T10:53:06Z

@DieHertz - Ah OK got it, removed those underscores. Added _hz in CLI name for setpoint i.e. now dterm_lowpass_hz and dterm_lowpass2_hz

…ints in profile Thanks DieHertz

ctzsnooze · 2018-03-09T11:01:58Z

Replaced 'lpf' within pid.c and related CLI names with 'lowpass', added _hz to CLI names for settings in hz, all should be consistent now, hope to have fixed whitespace too.

fixed whitespace in settings.c

DieHertz

Good job, will have a look soon

DieHertz

Just noticed the static state, was it added by your changes or present before?

DieHertz · 2018-03-09T11:13:59Z

src/main/flight/pid.c

+	} else {
+		dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply;
+		for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) {
+			dtermLowpass2[axis] = &dtermLowpass2State;


This falls short of using the same state for all axes, just like @fujin's PR before

DieHertz · 2018-03-09T11:13:59Z

src/main/flight/pid.c

+		}
+	}
+
+    static dtermLowpass_t dtermLowpassUnion;


Same here, this effectively makes state shared for all axes

OK I just did some re-naming, that's all, to 'dtermLowpass2State' from previous name of 'pt1FilterD', as suggested by Fujin. The code itself is copied from yaw p lowpass further down.

I checked, I've just used exactly the same method as for the yaw code and the other filter code as in release 3.3. Hope there's nothing fundamentally wrong, but if there is, we will need to fix it.

Yaw is just one axis, so it's not shared by definition.
In your code roll&pitch get shared Dterm state for lowpass.

Have a look at how it's done in Fujin's PR for gyro lowpass, you need to create state for PID filters in advance. I can help when I get home

@ctzsnooze : the problem is here: https://github.com/betaflight/betaflight/pull/5427/files#r173423911

OK sorry I have to wait for actual code suggestion, too dumb to know how to do that.

Would this work better?

//2nd Dterm Lowpass Filter if (pidProfile->dterm_lowpass2_hz == 0 || pidProfile->dterm_lowpass2_hz > pidFrequencyNyquist) { dtermLowpass2ApplyFn = nullFilterApply; } else { static pt1Filter_t dtermLowpass2State[2]; dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply; for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermLowpass2[axis] = &dtermLowpass2State[axis]; pt1FilterInit(dtermLowpass2[axis], pidProfile->dterm_lowpass2_hz, dT); } }

dtermLowpass_t contains 2-element arrays for filter state (roll+pitch)
pt1Filter_t is single state

Use static pt1Filter_t dtermLowpass2State[2]; or define type

I just pushed this, hope it is now OK? Basically same structure as the preceding dterm notch.

//2nd Dterm Lowpass Filter static pt1Filter_t dtermFilterLowpass2[2]; if (pidProfile->dterm_lowpass2_hz == 0 || pidProfile->dterm_lowpass2_hz > pidFrequencyNyquist) { dtermLowpass2ApplyFn = nullFilterApply; } else { dtermLowpass2ApplyFn = (filterApplyFnPtr)pt1FilterApply; for (int axis = FD_ROLL; axis <= FD_PITCH; axis++) { dtermLowpass2[axis] = &dtermFilterLowpass2[axis]; pt1FilterInit(dtermLowpass2[axis], pidProfile->dterm_lowpass2_hz, dT); } }

DieHertz · 2018-03-09T11:18:08Z

I can help you once I get home ;-)

Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere.

After disarming and allowing the gyros to settle with no motion, temporarily increase the dcmKpGain to rapidly converge on the correct attitude as indicated by the accelerometer (if present). Addresses the case of the attitude estimate becoming significantly incorrect after a crash due to high gyro rates. While the estimate will eventually converge, it does so quite slowly. The pilot may re-arm before the estimate has corrected leading to instant flips in self-leveling modes. By speeding up the convergence when disarmed we help reduce this risk.

mikeller · 2018-03-15T07:25:09Z

@ctzsnooze: Thanks for this. Can you please rebase this to get rid of the conflict?

@fujin: I assume that this will not interfere with #5391, since the changes are to PID filters?

fujin · 2018-03-15T07:28:16Z

@mikeller yes, should not conflict with #5391

ctzsnooze · 2018-03-15T12:13:44Z

Sorry I don't know how to rebase.

DieHertz · 2018-03-15T12:32:23Z

I could help and guide you if you contact me over Slack

This PR replaces the default biquad filter with a second PT1 set to 200Hz. Basically allows the user to enable a second, set point configurable, PT1 type first order low-pass filter on DTerm. This is useful because most noise in most logs arises from D, not P. The default is set to on, at twice the normal Dterm setpoint. This provides greater Dterm cut than a single PT1, and twice the steepness of cut above the second setpoint. Modelling shows significant reductions in higher frequency Dterm noise with only minor additional delay. The improvement in noise performance will be less than for biquad, but the delay is considerably less. If with the default settings the overall noise improves a lot, it may be possible bring D both filtering set points to higher numbers (e.g. 140/280), or alternatively remove other filters such as the notch filters, while maintaining an adequate level of control over noise.

Thanks DieHertz

…ints in profile Thanks DieHertz

fixed whitespace in settings.c

Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere.

Basically copied from the DtermNotch implementation

DieHertz · 2018-03-15T13:18:33Z

You did a merge instead of rebase.

ctzsnooze · 2018-03-15T13:22:47Z

I'm joining slack now - I did try to rebase, sorry. Maybe should do it all again from scratch.

DieHertz · 2018-03-15T14:06:07Z

Why have you closed it? There was no need to

ctzsnooze · 2018-03-15T14:13:28Z

Sorry I closed it because I stuffed up the merge... I have now fixed that with a new pull here:

#5458

I couldn't get the slack email reply and its 1am now. Sorry of making a mess. But the new pull should be OK I fixed the one line that needed changing.

Apologies.

atomiclama · 2018-03-15T20:16:01Z

@ctzsnooze Just like to say thanks for this. On my ageing CC3D the motors are now cooler and the quad sounds smoother. Can't do logs to confirm but feels better.

larryho5 and others added 3 commits Mar 7, 2018

- fixed TBS BST "Rates" was missing problem

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Remove underscore in lowpass_2, add hz to setpoint for lowpass

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completed replacing lpf with lowpass, added _hz to all lowpass set po…

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ctzsnooze dismissed DieHertz’s stale review via 1755544 Mar 9, 2018

fix whitespace

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fixed whitespace in settings.c

DieHertz reviewed Mar 9, 2018

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whitespace attempt #57

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change lpf to lowpass where appropriate elsewhere

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Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere.

mikeller added this to the Betaflight v3.4 milestone Mar 14, 2018

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Uniformly reduce UART buffer sizes to 128 bytes (#5432)

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ctzsnooze added 9 commits Mar 7, 2018

Rebase

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Remove underscore in lowpass_2, add hz to setpoint for lowpass

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Thanks DieHertz

completed replacing lpf with lowpass, added _hz to all lowpass set po…

b5a2805

…ints in profile Thanks DieHertz

fix whitespace

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fixed whitespace in settings.c

whitespace attempt #57

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change lpf to lowpass where appropriate elsewhere

be960ef

Note did not change OSD abbreviations, they are still LPF, and did not change gyro_lpf anywhere.

second attempt at a simple PT1 implementation

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Basically copied from the DtermNotch implementation

rebase

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ctzsnooze closed this Mar 15, 2018

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Second dterm pt1 #5458

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Second PT1 on DTerm #5427

Second PT1 on DTerm #5427

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