remove biquad replace with ptn filter (#13)

* code cleanup of unused
* allow users to select the level for their ptn filter
* Update board_comm.c
* Update board_comm.c
* 🦋
* QuickFlash's PT(n)
* fixed default init ptn_order
* Andrey flight tested & BBL proved working; nerdCopter hover tested proved non-borked
* v256, a number of serendipity
* Butterfly for ode to Helio

Co-authored-by: nerdCopter <[email protected]>

Author: Quick-Flash

.vscode/settings.json

@@ -43,6 +43,7 @@
         "fft.h": "c",
         "biquad.h": "c",
         "scheduler.h": "c",
-        "kalman.h": "c"
+        "kalman.h": "c",
+        "ptnFilter.h": "c"
     }
-}
+}

src/board_comm/board_comm.c

@@ -154,10 +154,10 @@ static void run_command(volatile imufCommand_t* command, volatile imufCommand_t*
                 gyroSettingsConfig.smallX        = (int32_t) ((int16_t)(command->param8 >> 16));
                 gyroSettingsConfig.smallY        = (int32_t) ((int16_t)(command->param9 & 0xFFFF));
                 gyroSettingsConfig.smallZ        = (int32_t) ((int16_t)(command->param9 >> 16));
-                filterConfig.sharpness            = (int16_t) ((int16_t)(command->param10 >> 16));
-                if (!filterConfig.sharpness)
+                filterConfig.ptnFilterType       = (int16_t)(command->param10 >> 16);
+                if (!filterConfig.ptnFilterType || filterConfig.ptnFilterType > 4)
                 {
-                	filterConfig.sharpness = 2500;
+                	filterConfig.ptnFilterType = 3;
                 }
                 filterConfig.acc_lpf_hz          = (int16_t)(command->param10 & 0xFFFF);
                 if (!filterConfig.acc_lpf_hz)

src/filter/filter.c

@@ -6,25 +6,21 @@
 
 volatile filter_config_t filterConfig =
 {
-	DEFAULT_ROLL_Q,
-	DEFAULT_PITCH_Q,
-	DEFAULT_YAW_Q,
-	MIN_WINDOW_SIZE,
-
-	(float)DEFAULT_ROLL_Q,
-	(float)DEFAULT_PITCH_Q,
-	(float)DEFAULT_YAW_Q,
-
-	(float)BASE_LPF_HZ,
-	(float)BASE_LPF_HZ,
-	(float)BASE_LPF_HZ,
-
-	40.0f,
-
-	BASE_LPF_HZ,
-	BASE_LPF_HZ,
-	BASE_LPF_HZ,
-	100,
+    DEFAULT_ROLL_Q,             //init defaults for: uint16_t i_roll_q;
+    DEFAULT_PITCH_Q,            //init defaults for: uint16_t i_pitch_q;
+    DEFAULT_YAW_Q,              //init defaults for: uint16_t i_yaw_q;
+    MIN_WINDOW_SIZE,            //init defaults for: uint16_t w;
+    (float)DEFAULT_ROLL_Q,      //init defaults for: float roll_q;
+    (float)DEFAULT_PITCH_Q,     //init defaults for: float pitch_q;
+    (float)DEFAULT_YAW_Q,       //init defaults for: float yaw_q;
+    (float)BASE_LPF_HZ,         //init defaults for: float pitch_lpf_hz;
+    (float)BASE_LPF_HZ,         //init defaults for: float roll_lpf_hz;
+    (float)BASE_LPF_HZ,         //init defaults for: float yaw_lpf_hz;
+    40.0f,                      //init defaults for: uint16_t acc_lpf_hz;
+    BASE_LPF_HZ,                //init defaults for: uint16_t i_roll_lpf_hz;
+    BASE_LPF_HZ,                //init defaults for: uint16_t i_pitch_lpf_hz;
+    BASE_LPF_HZ,                //init defaults for: uint16_t i_yaw_lpf_hz;
+    3,                          //init defaults for: uint16_t ptnFilterType;
 };
 
 // PT1 Low Pass filter
@@ -49,16 +45,14 @@ volatile axisData_t oldSetPoint;
 volatile axisData_t setPoint;
 volatile int allowFilterInit = 1;
 
-float sharpness;
-
 void allow_filter_init(void)
 {
 	allowFilterInit = 1;
 }
 
 void ptnFilter_init(float freq, ptnFilter_axis_t *filterState)
 {
-	ptnFilterInit(freq, filterState, 2);
+	ptnFilterInit(freq, filterState, filterConfig.ptnFilterType);
 }
 
 void filter_init(void)
@@ -79,8 +73,6 @@ void filter_init(void)
 	pt1FilterInit(&ax_filter, k, 0.0f);
 	pt1FilterInit(&ay_filter, k, 0.0f);
 	pt1FilterInit(&az_filter, k, 0.0f);
-
-	sharpness = (float)filterConfig.sharpness / 250.0f;
 }
 
 void filter_data(volatile axisData_t *gyroRateData, volatile axisData_t *gyroAccData, float gyroTempData, filteredData_t *filteredData)

src/filter/filter.h

@@ -30,7 +30,7 @@ typedef struct filter_config
     uint16_t i_roll_lpf_hz;
     uint16_t i_pitch_lpf_hz;
     uint16_t i_yaw_lpf_hz;
-    uint16_t sharpness;
+    uint16_t ptnFilterType;
 } filter_config_t;
 
 extern volatile filter_config_t filterConfig;

src/version.h

@@ -3,4 +3,4 @@
 #define HARDWARE_VERSION 101
 #define BOOTLOADER_VERSION 101
 
-#define FIRMWARE_VERSION 254
+#define FIRMWARE_VERSION 256