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AP_InertialSensor: fixed Q calculation for notch filters #28765

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AP_InertialSensor: fixed Q calculation for notch filters #28765

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fa828a7
AP_InertialSensor: fixed Q calculation for notch filters
tridge Nov 28, 2024
0984dce
AP_InertialSensor: make sure notch is still attenuating noise during …
andyp1per Nov 28, 2024
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19 changes: 13 additions & 6 deletions libraries/AP_InertialSensor/AP_InertialSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1059,8 +1059,10 @@ AP_InertialSensor::init(uint16_t loop_rate)
notch.filter[i].allocate_filters(notch.num_dynamic_notches,
notch.params.harmonics(), double_notch ? 2 : triple_notch ? 3 : 1);
// initialise default settings, these will be subsequently changed in AP_InertialSensor_Backend::update_gyro()
notch.filter[i].init(_gyro_raw_sample_rates[i], notch.calculated_notch_freq_hz[0],
notch.params.bandwidth_hz(), notch.params.attenuation_dB());
notch.filter[i].init(_gyro_raw_sample_rates[i],
notch.params.center_freq_hz(),
notch.params.bandwidth_hz(),
notch.params.attenuation_dB());
}
}
}
Expand Down Expand Up @@ -1786,16 +1788,21 @@ void AP_InertialSensor::HarmonicNotch::update_params(uint8_t instance, bool conv
const float center_freq = calculated_notch_freq_hz[0];
if (!is_equal(last_bandwidth_hz[instance], params.bandwidth_hz()) ||
!is_equal(last_attenuation_dB[instance], params.attenuation_dB()) ||
(params.tracking_mode() == HarmonicNotchDynamicMode::Fixed && !is_equal(last_center_freq_hz[instance], center_freq)) ||
(params.tracking_mode() == HarmonicNotchDynamicMode::Fixed && !is_equal(last_center_freq_hz[instance], params.center_freq_hz())) ||
converging) {
filter[instance].init(gyro_rate,
center_freq,
params.center_freq_hz(),
params.bandwidth_hz(),
params.attenuation_dB());
last_center_freq_hz[instance] = center_freq;
filter[instance].update(center_freq);
last_center_freq_hz[instance] = params.center_freq_hz();
last_bandwidth_hz[instance] = params.bandwidth_hz();
last_attenuation_dB[instance] = params.attenuation_dB();
} else if (params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
}
if (params.tracking_mode() != HarmonicNotchDynamicMode::Fixed) {
// we always call the update for non-fixed notches, even if we
// just called init() as the update may use a different
// frequency to the init
if (num_calculated_notch_frequencies > 1) {
filter[instance].update(num_calculated_notch_frequencies, calculated_notch_freq_hz);
} else {
Expand Down
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