src/main/sensors/gyro.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24 #include <math.h>
  25 #include <stdlib.h>
  26
  27 #include "platform.h"
  28
  29 #include "build/debug.h"
  30
  31 #include "common/axis.h"
  32 #include "common/maths.h"
  33 #include "common/filter.h"
  34
  35 #include "config/feature.h"
  36
  37 #include "pg/pg.h"
  38 #include "pg/pg_ids.h"
  39 #include "pg/gyrodev.h"
  40
  41 #include "drivers/bus_spi.h"
  42 #include "drivers/io.h"
  43
  44 #include "config/config.h"
  45 #include "fc/runtime_config.h"
  46
  47 #ifdef USE_GYRO_DATA_ANALYSE
  48 #include "flight/gyroanalyse.h"
  49 #endif
  50 #include "flight/rpm_filter.h"
  51
  52 #include "io/beeper.h"
  53 #include "io/statusindicator.h"
  54
  55 #include "scheduler/scheduler.h"
  56
  57 #include "sensors/boardalignment.h"
  58 #include "sensors/gyro.h"
  59 #include "sensors/gyro_init.h"
  60
  61 #if ((TARGET_FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6500)))
  62 #define USE_GYRO_SLEW_LIMITER
  63 #endif
  64
  65 FAST_RAM_ZERO_INIT gyro_t gyro;
  66
  67 static FAST_RAM_ZERO_INIT bool overflowDetected;
  68 #ifdef USE_GYRO_OVERFLOW_CHECK
  69 static FAST_RAM_ZERO_INIT timeUs_t overflowTimeUs;
  70 #endif
  71
  72 #ifdef USE_YAW_SPIN_RECOVERY
  73 static FAST_RAM_ZERO_INIT bool yawSpinRecoveryEnabled;
  74 static FAST_RAM_ZERO_INIT int yawSpinRecoveryThreshold;
  75 static FAST_RAM_ZERO_INIT bool yawSpinDetected;
  76 static FAST_RAM_ZERO_INIT timeUs_t yawSpinTimeUs;
  77 #endif
  78
  79 static FAST_RAM_ZERO_INIT float accumulatedMeasurements[XYZ_AXIS_COUNT];
  80 static FAST_RAM_ZERO_INIT float gyroPrevious[XYZ_AXIS_COUNT];
  81 static FAST_RAM_ZERO_INIT int accumulatedMeasurementCount;
  82
  83 static FAST_RAM_ZERO_INIT int16_t gyroSensorTemperature;
  84
  85 FAST_RAM uint8_t activePidLoopDenom = 1;
  86
  87 static bool firstArmingCalibrationWasStarted = false;
  88
  89 #ifdef UNIT_TEST
  90 STATIC_UNIT_TESTED gyroSensor_t * const gyroSensorPtr = &gyro.gyroSensor1;
  91 STATIC_UNIT_TESTED gyroDev_t * const gyroDevPtr = &gyro.gyroSensor1.gyroDev;
  92 #endif
  93
  94
  95 #define DEBUG_GYRO_CALIBRATION 3
  96
  97 #define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980  // 97.5% full scale (1950dps for 2000dps gyro)
  98 #define GYRO_OVERFLOW_RESET_THRESHOLD 30340    // 92.5% full scale (1850dps for 2000dps gyro)
  99
 100 PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8);
 101
 102 #ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
 103 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 104 #endif
 105
 106 void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
 107 {
 108     gyroConfig->gyroCalibrationDuration = 125;        // 1.25 seconds
 109     gyroConfig->gyroMovementCalibrationThreshold = 48;
 110     gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
 111     gyroConfig->gyro_lowpass_type = FILTER_PT1;
 112     gyroConfig->gyro_lowpass_hz = 200;  // NOTE: dynamic lpf is enabled by default so this setting is actually
 113                                         // overridden and the static lowpass 1 is disabled. We can't set this
 114                                         // value to 0 otherwise Configurator versions 10.4 and earlier will also
 115                                         // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
 116     gyroConfig->gyro_lowpass2_type = FILTER_PT1;
 117     gyroConfig->gyro_lowpass2_hz = 250;
 118     gyroConfig->gyro_high_fsr = false;
 119     gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
 120     gyroConfig->gyro_soft_notch_hz_1 = 0;
 121     gyroConfig->gyro_soft_notch_cutoff_1 = 0;
 122     gyroConfig->gyro_soft_notch_hz_2 = 0;
 123     gyroConfig->gyro_soft_notch_cutoff_2 = 0;
 124     gyroConfig->checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES;
 125     gyroConfig->gyro_offset_yaw = 0;
 126     gyroConfig->yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO;
 127     gyroConfig->yaw_spin_threshold = 1950;
 128     gyroConfig->dyn_lpf_gyro_min_hz = 200;
 129     gyroConfig->dyn_lpf_gyro_max_hz = 500;
 130     gyroConfig->dyn_notch_max_hz = 600;
 131     gyroConfig->dyn_notch_width_percent = 8;
 132     gyroConfig->dyn_notch_q = 120;
 133     gyroConfig->dyn_notch_min_hz = 150;
 134     gyroConfig->gyro_filter_debug_axis = FD_ROLL;
 135 }
 136
 137 #ifdef USE_GYRO_DATA_ANALYSE
 138 bool isDynamicFilterActive(void)
 139 {
 140     return featureIsEnabled(FEATURE_DYNAMIC_FILTER);
 141 }
 142 #endif
 143
 144 FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
 145 {
 146     return gyroSensor->calibration.cyclesRemaining == 0;
 147 }
 148
 149 FAST_CODE bool gyroIsCalibrationComplete(void)
 150 {
 151     switch (gyro.gyroToUse) {
 152         default:
 153         case GYRO_CONFIG_USE_GYRO_1: {
 154             return isGyroSensorCalibrationComplete(&gyro.gyroSensor1);
 155         }
 156 #ifdef USE_MULTI_GYRO
 157         case GYRO_CONFIG_USE_GYRO_2: {
 158             return isGyroSensorCalibrationComplete(&gyro.gyroSensor2);
 159         }
 160         case GYRO_CONFIG_USE_GYRO_BOTH: {
 161             return isGyroSensorCalibrationComplete(&gyro.gyroSensor1) && isGyroSensorCalibrationComplete(&gyro.gyroSensor2);
 162         }
 163 #endif
 164     }
 165 }
 166
 167 static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
 168 {
 169     return gyroCalibration->cyclesRemaining == 1;
 170 }
 171
 172 static int32_t gyroCalculateCalibratingCycles(void)
 173 {
 174     return (gyroConfig()->gyroCalibrationDuration * 10000) / gyro.sampleLooptime;
 175 }
 176
 177 static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
 178 {
 179     return gyroCalibration->cyclesRemaining == gyroCalculateCalibratingCycles();
 180 }
 181
 182 static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
 183 {
 184 #if defined(USE_FAKE_GYRO) && !defined(UNIT_TEST)
 185     if (gyroSensor->gyroDev.gyroHardware == GYRO_FAKE) {
 186         gyroSensor->calibration.cyclesRemaining = 0;
 187         return;
 188     }
 189 #endif
 190     gyroSensor->calibration.cyclesRemaining = gyroCalculateCalibratingCycles();
 191 }
 192
 193 void gyroStartCalibration(bool isFirstArmingCalibration)
 194 {
 195     if (isFirstArmingCalibration && firstArmingCalibrationWasStarted) {
 196         return;
 197     }
 198
 199     gyroSetCalibrationCycles(&gyro.gyroSensor1);
 200 #ifdef USE_MULTI_GYRO
 201     gyroSetCalibrationCycles(&gyro.gyroSensor2);
 202 #endif
 203
 204     if (isFirstArmingCalibration) {
 205         firstArmingCalibrationWasStarted = true;
 206     }
 207 }
 208
 209 bool isFirstArmingGyroCalibrationRunning(void)
 210 {
 211     return firstArmingCalibrationWasStarted && !gyroIsCalibrationComplete();
 212 }
 213
 214 STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t gyroMovementCalibrationThreshold)
 215 {
 216     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 217         // Reset g[axis] at start of calibration
 218         if (isOnFirstGyroCalibrationCycle(&gyroSensor->calibration)) {
 219             gyroSensor->calibration.sum[axis] = 0.0f;
 220             devClear(&gyroSensor->calibration.var[axis]);
 221             // gyroZero is set to zero until calibration complete
 222             gyroSensor->gyroDev.gyroZero[axis] = 0.0f;
 223         }
 224
 225         // Sum up CALIBRATING_GYRO_TIME_US readings
 226         gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
 227         devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
 228
 229         if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
 230             const float stddev = devStandardDeviation(&gyroSensor->calibration.var[axis]);
 231             // DEBUG_GYRO_CALIBRATION records the standard deviation of roll
 232             // into the spare field - debug[3], in DEBUG_GYRO_RAW
 233             if (axis == X) {
 234                 DEBUG_SET(DEBUG_GYRO_RAW, DEBUG_GYRO_CALIBRATION, lrintf(stddev));
 235             }
 236
 237             // check deviation and startover in case the model was moved
 238             if (gyroMovementCalibrationThreshold && stddev > gyroMovementCalibrationThreshold) {
 239                 gyroSetCalibrationCycles(gyroSensor);
 240                 return;
 241             }
 242
 243             // please take care with exotic boardalignment !!
 244             gyroSensor->gyroDev.gyroZero[axis] = gyroSensor->calibration.sum[axis] / gyroCalculateCalibratingCycles();
 245             if (axis == Z) {
 246               gyroSensor->gyroDev.gyroZero[axis] -= ((float)gyroConfig()->gyro_offset_yaw / 100);
 247             }
 248         }
 249     }
 250
 251     if (isOnFinalGyroCalibrationCycle(&gyroSensor->calibration)) {
 252         schedulerResetTaskStatistics(TASK_SELF); // so calibration cycles do not pollute tasks statistics
 253         if (!firstArmingCalibrationWasStarted || (getArmingDisableFlags() & ~ARMING_DISABLED_CALIBRATING) == 0) {
 254             beeper(BEEPER_GYRO_CALIBRATED);
 255         }
 256     }
 257
 258     --gyroSensor->calibration.cyclesRemaining;
 259 }
 260
 261 #if defined(USE_GYRO_SLEW_LIMITER)
 262 FAST_CODE int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
 263 {
 264     int32_t ret = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
 265     if (gyroConfig()->checkOverflow || gyro.gyroHasOverflowProtection) {
 266         // don't use the slew limiter if overflow checking is on or gyro is not subject to overflow bug
 267         return ret;
 268     }
 269     if (abs(ret - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
 270         // there has been a large change in value, so assume overflow has occurred and return the previous value
 271         ret = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
 272     } else {
 273         gyroSensor->gyroDev.gyroADCRawPrevious[axis] = ret;
 274     }
 275     return ret;
 276 }
 277 #endif
 278
 279 #ifdef USE_GYRO_OVERFLOW_CHECK
 280 static FAST_CODE_NOINLINE void handleOverflow(timeUs_t currentTimeUs)
 281 {
 282     // This will need to be revised if we ever allow different sensor types to be
 283     // used simultaneously. In that case the scale might be different between sensors.
 284     // It's complicated by the fact that we're using filtered gyro data here which is
 285     // after both sensors are scaled and averaged.
 286     const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyro.scale;
 287
 288     if ((fabsf(gyro.gyroADCf[X]) < gyroOverflowResetRate)
 289           && (fabsf(gyro.gyroADCf[Y]) < gyroOverflowResetRate)
 290           && (fabsf(gyro.gyroADCf[Z]) < gyroOverflowResetRate)) {
 291         // if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected
 292         // reset requires good OK values on all axes
 293         if (cmpTimeUs(currentTimeUs, overflowTimeUs) > 50000) {
 294             overflowDetected = false;
 295         }
 296     } else {
 297         // not a consecutive OK value, so reset the overflow time
 298         overflowTimeUs = currentTimeUs;
 299     }
 300 }
 301
 302 static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs)
 303 {
 304     // check for overflow to handle Yaw Spin To The Moon (YSTTM)
 305     // ICM gyros are specified to +/- 2000 deg/sec, in a crash they can go out of spec.
 306     // This can cause an overflow and sign reversal in the output.
 307     // Overflow and sign reversal seems to result in a gyro value of +1996 or -1996.
 308     if (overflowDetected) {
 309         handleOverflow(currentTimeUs);
 310     } else {
 311 #ifndef SIMULATOR_BUILD
 312         // check for overflow in the axes set in overflowAxisMask
 313         gyroOverflow_e overflowCheck = GYRO_OVERFLOW_NONE;
 314
 315         // This will need to be revised if we ever allow different sensor types to be
 316         // used simultaneously. In that case the scale might be different between sensors.
 317         // It's complicated by the fact that we're using filtered gyro data here which is
 318         // after both sensors are scaled and averaged.
 319         const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyro.scale;
 320
 321         if (fabsf(gyro.gyroADCf[X]) > gyroOverflowTriggerRate) {
 322             overflowCheck |= GYRO_OVERFLOW_X;
 323         }
 324         if (fabsf(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) {
 325             overflowCheck |= GYRO_OVERFLOW_Y;
 326         }
 327         if (fabsf(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) {
 328             overflowCheck |= GYRO_OVERFLOW_Z;
 329         }
 330         if (overflowCheck & gyro.overflowAxisMask) {
 331             overflowDetected = true;
 332             overflowTimeUs = currentTimeUs;
 333 #ifdef USE_YAW_SPIN_RECOVERY
 334             yawSpinDetected = false;
 335 #endif // USE_YAW_SPIN_RECOVERY
 336         }
 337 #endif // SIMULATOR_BUILD
 338     }
 339 }
 340 #endif // USE_GYRO_OVERFLOW_CHECK
 341
 342 #ifdef USE_YAW_SPIN_RECOVERY
 343 static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs)
 344 {
 345     const float yawSpinResetRate = yawSpinRecoveryThreshold - 100.0f;
 346     if (fabsf(gyro.gyroADCf[Z]) < yawSpinResetRate) {
 347         // testing whether 20ms of consecutive OK gyro yaw values is enough
 348         if (cmpTimeUs(currentTimeUs, yawSpinTimeUs) > 20000) {
 349             yawSpinDetected = false;
 350         }
 351     } else {
 352         // reset the yaw spin time
 353         yawSpinTimeUs = currentTimeUs;
 354     }
 355 }
 356
 357 static FAST_CODE void checkForYawSpin(timeUs_t currentTimeUs)
 358 {
 359     // if not in overflow mode, handle yaw spins above threshold
 360 #ifdef USE_GYRO_OVERFLOW_CHECK
 361     if (overflowDetected) {
 362         yawSpinDetected = false;
 363         return;
 364     }
 365 #endif // USE_GYRO_OVERFLOW_CHECK
 366
 367     if (yawSpinDetected) {
 368         handleYawSpin(currentTimeUs);
 369     } else {
 370 #ifndef SIMULATOR_BUILD
 371         // check for spin on yaw axis only
 372          if (abs((int)gyro.gyroADCf[Z]) > yawSpinRecoveryThreshold) {
 373             yawSpinDetected = true;
 374             yawSpinTimeUs = currentTimeUs;
 375         }
 376 #endif // SIMULATOR_BUILD
 377     }
 378 }
 379 #endif // USE_YAW_SPIN_RECOVERY
 380
 381 static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSensor)
 382 {
 383     if (!gyroSensor->gyroDev.readFn(&gyroSensor->gyroDev)) {
 384         return;
 385     }
 386     gyroSensor->gyroDev.dataReady = false;
 387
 388     if (isGyroSensorCalibrationComplete(gyroSensor)) {
 389         // move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
 390
 391 #if defined(USE_GYRO_SLEW_LIMITER)
 392         gyroSensor->gyroDev.gyroADC[X] = gyroSlewLimiter(gyroSensor, X) - gyroSensor->gyroDev.gyroZero[X];
 393         gyroSensor->gyroDev.gyroADC[Y] = gyroSlewLimiter(gyroSensor, Y) - gyroSensor->gyroDev.gyroZero[Y];
 394         gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z];
 395 #else
 396         gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
 397         gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
 398         gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
 399 #endif
 400
 401         if (gyroSensor->gyroDev.gyroAlign == ALIGN_CUSTOM) {
 402             alignSensorViaMatrix(gyroSensor->gyroDev.gyroADC, &gyroSensor->gyroDev.rotationMatrix);
 403         } else {
 404             alignSensorViaRotation(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);
 405         }
 406     } else {
 407         performGyroCalibration(gyroSensor, gyroConfig()->gyroMovementCalibrationThreshold);
 408     }
 409 }
 410
 411 FAST_CODE void gyroUpdate(void)
 412 {
 413     switch (gyro.gyroToUse) {
 414     case GYRO_CONFIG_USE_GYRO_1:
 415         gyroUpdateSensor(&gyro.gyroSensor1);
 416         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor1)) {
 417             gyro.gyroADC[X] = gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale;
 418             gyro.gyroADC[Y] = gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale;
 419             gyro.gyroADC[Z] = gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale;
 420         }
 421         break;
 422 #ifdef USE_MULTI_GYRO
 423     case GYRO_CONFIG_USE_GYRO_2:
 424         gyroUpdateSensor(&gyro.gyroSensor2);
 425         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor2)) {
 426             gyro.gyroADC[X] = gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale;
 427             gyro.gyroADC[Y] = gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale;
 428             gyro.gyroADC[Z] = gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale;
 429         }
 430         break;
 431     case GYRO_CONFIG_USE_GYRO_BOTH:
 432         gyroUpdateSensor(&gyro.gyroSensor1);
 433         gyroUpdateSensor(&gyro.gyroSensor2);
 434         if (isGyroSensorCalibrationComplete(&gyro.gyroSensor1) && isGyroSensorCalibrationComplete(&gyro.gyroSensor2)) {
 435             gyro.gyroADC[X] = ((gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 436             gyro.gyroADC[Y] = ((gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 437             gyro.gyroADC[Z] = ((gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale) + (gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale)) / 2.0f;
 438         }
 439         break;
 440 #endif
 441     }
 442
 443     if (gyro.downsampleFilterEnabled) {
 444         // using gyro lowpass 2 filter for downsampling
 445         gyro.sampleSum[X] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[X], gyro.gyroADC[X]);
 446         gyro.sampleSum[Y] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[Y], gyro.gyroADC[Y]);
 447         gyro.sampleSum[Z] = gyro.lowpass2FilterApplyFn((filter_t *)&gyro.lowpass2Filter[Z], gyro.gyroADC[Z]);
 448     } else {
 449         // using simple averaging for downsampling
 450         gyro.sampleSum[X] += gyro.gyroADC[X];
 451         gyro.sampleSum[Y] += gyro.gyroADC[Y];
 452         gyro.sampleSum[Z] += gyro.gyroADC[Z];
 453         gyro.sampleCount++;
 454     }
 455 }
 456
 457 #define GYRO_FILTER_FUNCTION_NAME filterGyro
 458 #define GYRO_FILTER_DEBUG_SET(mode, index, value) do { UNUSED(mode); UNUSED(index); UNUSED(value); } while (0)
 459 #define GYRO_FILTER_AXIS_DEBUG_SET(axis, mode, index, value) do { UNUSED(axis); UNUSED(mode); UNUSED(index); UNUSED(value); } while (0)
 460 #include "gyro_filter_impl.c"
 461 #undef GYRO_FILTER_FUNCTION_NAME
 462 #undef GYRO_FILTER_DEBUG_SET
 463 #undef GYRO_FILTER_AXIS_DEBUG_SET
 464
 465 #define GYRO_FILTER_FUNCTION_NAME filterGyroDebug
 466 #define GYRO_FILTER_DEBUG_SET DEBUG_SET
 467 #define GYRO_FILTER_AXIS_DEBUG_SET(axis, mode, index, value) if (axis == (int)gyro.gyroDebugAxis) DEBUG_SET(mode, index, value)
 468 #include "gyro_filter_impl.c"
 469 #undef GYRO_FILTER_FUNCTION_NAME
 470 #undef GYRO_FILTER_DEBUG_SET
 471 #undef GYRO_FILTER_AXIS_DEBUG_SET
 472
 473 FAST_CODE void gyroFiltering(timeUs_t currentTimeUs)
 474 {
 475     if (gyro.gyroDebugMode == DEBUG_NONE) {
 476         filterGyro();
 477     } else {
 478         filterGyroDebug();
 479     }
 480
 481 #ifdef USE_GYRO_DATA_ANALYSE
 482     if (isDynamicFilterActive()) {
 483         gyroDataAnalyse(&gyro.gyroAnalyseState, gyro.notchFilterDyn, gyro.notchFilterDyn2);
 484     }
 485 #endif
 486
 487     if (gyro.useDualGyroDebugging) {
 488         switch (gyro.gyroToUse) {
 489         case GYRO_CONFIG_USE_GYRO_1:
 490             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyro.gyroSensor1.gyroDev.gyroADCRaw[X]);
 491             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyro.gyroSensor1.gyroDev.gyroADCRaw[Y]);
 492             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale));
 493             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale));
 494             break;
 495
 496 #ifdef USE_MULTI_GYRO
 497         case GYRO_CONFIG_USE_GYRO_2:
 498             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyro.gyroSensor2.gyroDev.gyroADCRaw[X]);
 499             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyro.gyroSensor2.gyroDev.gyroADCRaw[Y]);
 500             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale));
 501             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale));
 502             break;
 503
 504     case GYRO_CONFIG_USE_GYRO_BOTH:
 505             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 0, gyro.gyroSensor1.gyroDev.gyroADCRaw[X]);
 506             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 1, gyro.gyroSensor1.gyroDev.gyroADCRaw[Y]);
 507             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 2, gyro.gyroSensor2.gyroDev.gyroADCRaw[X]);
 508             DEBUG_SET(DEBUG_DUAL_GYRO_RAW, 3, gyro.gyroSensor2.gyroDev.gyroADCRaw[Y]);
 509             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 0, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale));
 510             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 1, lrintf(gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale));
 511             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 2, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale));
 512             DEBUG_SET(DEBUG_DUAL_GYRO_SCALED, 3, lrintf(gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale));
 513             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 0, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[X] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[X] * gyro.gyroSensor2.gyroDev.scale)));
 514             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale)));
 515             DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf((gyro.gyroSensor1.gyroDev.gyroADC[Z] * gyro.gyroSensor1.gyroDev.scale) - (gyro.gyroSensor2.gyroDev.gyroADC[Z] * gyro.gyroSensor2.gyroDev.scale)));
 516             break;
 517 #endif
 518         }
 519     }
 520
 521 #ifdef USE_GYRO_OVERFLOW_CHECK
 522     if (gyroConfig()->checkOverflow && !gyro.gyroHasOverflowProtection) {
 523         checkForOverflow(currentTimeUs);
 524     }
 525 #endif
 526
 527 #ifdef USE_YAW_SPIN_RECOVERY
 528     if (yawSpinRecoveryEnabled) {
 529         checkForYawSpin(currentTimeUs);
 530     }
 531 #endif
 532
 533     if (!overflowDetected) {
 534         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 535             // integrate using trapezium rule to avoid bias
 536             accumulatedMeasurements[axis] += 0.5f * (gyroPrevious[axis] + gyro.gyroADCf[axis]) * gyro.targetLooptime;
 537             gyroPrevious[axis] = gyro.gyroADCf[axis];
 538         }
 539         accumulatedMeasurementCount++;
 540     }
 541
 542 #if !defined(USE_GYRO_OVERFLOW_CHECK) && !defined(USE_YAW_SPIN_RECOVERY)
 543     UNUSED(currentTimeUs);
 544 #endif
 545 }
 546
 547 bool gyroGetAccumulationAverage(float *accumulationAverage)
 548 {
 549     if (accumulatedMeasurementCount) {
 550         // If we have gyro data accumulated, calculate average rate that will yield the same rotation
 551         const timeUs_t accumulatedMeasurementTimeUs = accumulatedMeasurementCount * gyro.targetLooptime;
 552         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 553             accumulationAverage[axis] = accumulatedMeasurements[axis] / accumulatedMeasurementTimeUs;
 554             accumulatedMeasurements[axis] = 0.0f;
 555         }
 556         accumulatedMeasurementCount = 0;
 557         return true;
 558     } else {
 559         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 560             accumulationAverage[axis] = 0.0f;
 561         }
 562         return false;
 563     }
 564 }
 565
 566 int16_t gyroReadSensorTemperature(gyroSensor_t gyroSensor)
 567 {
 568     if (gyroSensor.gyroDev.temperatureFn) {
 569         gyroSensor.gyroDev.temperatureFn(&gyroSensor.gyroDev, &gyroSensor.gyroDev.temperature);
 570     }
 571     return gyroSensor.gyroDev.temperature;
 572 }
 573
 574 void gyroReadTemperature(void)
 575 {
 576     switch (gyro.gyroToUse) {
 577     case GYRO_CONFIG_USE_GYRO_1:
 578         gyroSensorTemperature = gyroReadSensorTemperature(gyro.gyroSensor1);
 579         break;
 580
 581 #ifdef USE_MULTI_GYRO
 582     case GYRO_CONFIG_USE_GYRO_2:
 583         gyroSensorTemperature = gyroReadSensorTemperature(gyro.gyroSensor2);
 584         break;
 585
 586     case GYRO_CONFIG_USE_GYRO_BOTH:
 587         gyroSensorTemperature = MAX(gyroReadSensorTemperature(gyro.gyroSensor1), gyroReadSensorTemperature(gyro.gyroSensor2));
 588         break;
 589 #endif // USE_MULTI_GYRO
 590     }
 591 }
 592
 593 int16_t gyroGetTemperature(void)
 594 {
 595     return gyroSensorTemperature;
 596 }
 597
 598 bool gyroOverflowDetected(void)
 599 {
 600 #ifdef USE_GYRO_OVERFLOW_CHECK
 601     return overflowDetected;
 602 #else
 603     return false;
 604 #endif // USE_GYRO_OVERFLOW_CHECK
 605 }
 606
 607 #ifdef USE_YAW_SPIN_RECOVERY
 608 bool gyroYawSpinDetected(void)
 609 {
 610     return yawSpinDetected;
 611 }
 612 #endif // USE_YAW_SPIN_RECOVERY
 613
 614 uint16_t gyroAbsRateDps(int axis)
 615 {
 616     return fabsf(gyro.gyroADCf[axis]);
 617 }
 618
 619 #ifdef USE_DYN_LPF
 620
 621 float dynThrottle(float throttle) {
 622     return throttle * (1 - (throttle * throttle) / 3.0f) * 1.5f;
 623 }
 624
 625 void dynLpfGyroUpdate(float throttle)
 626 {
 627     if (gyro.dynLpfFilter != DYN_LPF_NONE) {
 628         const unsigned int cutoffFreq = fmax(dynThrottle(throttle) * gyro.dynLpfMax, gyro.dynLpfMin);
 629
 630         if (gyro.dynLpfFilter == DYN_LPF_PT1) {
 631             DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
 632             const float gyroDt = gyro.targetLooptime * 1e-6f;
 633             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 634                 pt1FilterUpdateCutoff(&gyro.lowpassFilter[axis].pt1FilterState, pt1FilterGain(cutoffFreq, gyroDt));
 635             }
 636         } else if (gyro.dynLpfFilter == DYN_LPF_BIQUAD) {
 637             DEBUG_SET(DEBUG_DYN_LPF, 2, cutoffFreq);
 638             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
 639                 biquadFilterUpdateLPF(&gyro.lowpassFilter[axis].biquadFilterState, cutoffFreq, gyro.targetLooptime);
 640             }
 641         }
 642     }
 643 }
 644 #endif
 645
 646 #ifdef USE_YAW_SPIN_RECOVERY
 647 void initYawSpinRecovery(int maxYawRate)
 648 {
 649     bool enabledFlag;
 650     int threshold;
 651
 652     switch (gyroConfig()->yaw_spin_recovery) {
 653     case YAW_SPIN_RECOVERY_ON:
 654         enabledFlag = true;
 655         threshold = gyroConfig()->yaw_spin_threshold;
 656         break;
 657     case YAW_SPIN_RECOVERY_AUTO:
 658         enabledFlag = true;
 659         const int overshootAllowance = MAX(maxYawRate / 4, 200); // Allow a 25% or minimum 200dps overshoot tolerance
 660         threshold = constrain(maxYawRate + overshootAllowance, YAW_SPIN_RECOVERY_THRESHOLD_MIN, YAW_SPIN_RECOVERY_THRESHOLD_MAX);
 661         break;
 662     case YAW_SPIN_RECOVERY_OFF:
 663     default:
 664         enabledFlag = false;
 665         threshold = YAW_SPIN_RECOVERY_THRESHOLD_MAX;
 666         break;
 667     }
 668
 669     yawSpinRecoveryEnabled = enabledFlag;
 670     yawSpinRecoveryThreshold = threshold;
 671 }
 672 #endif