Implement lulu filtering for QuickSilver #121
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DusKing1
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Dec 26, 2024
bkleiner
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Jan 2, 2025
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"Midpoint" is expo origin/pivot, not a remap where X=0.5 results in Y=mid
Fixed not initializing window size Update LICENSE Restored licence after thinking about it Update src/flight/filter.c Thanks for the suggestion! Co-authored-by: Hugo Chiang <[email protected]> Update src/flight/filter.c Co-authored-by: Hugo Chiang <[email protected]> Implemented changes as requested by Hanfer lulu: use union, add coeff function, optimize for constant substitution
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Hi! Thanks for considering this contribution!
I have found this filter works well with low latency in combination with a dynamic gyro filter and a single DTerm filter.
The below is a bad spot of the filter shown, but given the latency I believe this is quite nice even with that taken into account. It excels at high throttle but when dropping the throttle from high to low quickly has a slight wobble if the dynamic gyro isn't enabled. If it is enabled, it works great!
The frequency is more of an indication and doesn't represent anything sensible, really. I recommend starting with 160Hz and adjusting by 30hz at a time upwards up to 250 or down to 100 depending on quad size.
This thing is heavy on cpu compared to the PT series filters so be aware of that, but QuickSilver seems to handle that perfectly.
See the inav pull request for some additional info:
iNavFlight/inav#10145
Also let me know if there are any questions or adjustments I need to make still! :)