Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Lulu fixes and improvements #10416

Open
wants to merge 6 commits into
base: master
Choose a base branch
from
+100 −157
Open

Lulu fixes and improvements #10416

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
fd9a261
Updated lulu filter to improve high throttle handling
pjpei Oct 14, 2024
ebe5b8b
Merge branch 'iNavFlight:master' into master
pjpei Oct 14, 2024
03df762
Updated to use the constrain function instead of the if statements
pjpei Oct 14, 2024
4702756
Corrected to K&R style indentation
pjpei Oct 14, 2024
eeea8f8
Removed register optimization
pjpei Oct 14, 2024
b451388
Merge branch 'iNavFlight:master' into lulu_fixes
pjpei Oct 16, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
254 changes: 99 additions & 155 deletions src/main/common/lulu.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,164 +16,108 @@
#endif /* __ARM_ACLE */
#include <fenv.h>

void luluFilterInit(luluFilter_t *filter, int N)
{
filter->N = constrain(N, 1, 15);
filter->windowSize = filter->N * 2 + 1;
filter->windowBufIndex = 0;

memset(filter->luluInterim, 0, sizeof(float) * (filter->windowSize));
memset(filter->luluInterimB, 0, sizeof(float) * (filter->windowSize));
}
void luluFilterInit(luluFilter_t *filter, int N) {
filter->N = constrain(N, 1, 15);
filter->windowSize = filter->N * 2 + 1;
filter->windowBufIndex = 0;

FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize)
{
float curVal = 0;
float curValB = 0;
for (int N = 1; N <= filterN; N++)
{
int indexNeg = (index + windowSize - 2 * N) % windowSize;
int curIndex = (indexNeg + 1) % windowSize;
float prevVal = series[indexNeg];
float prevValB = seriesB[indexNeg];
int indexPos = (curIndex + N) % windowSize;

for (int i = windowSize - 2 * N; i < windowSize - N; i++)
{
if (indexPos >= windowSize)
{
indexPos = 0;
}
if (curIndex >= windowSize)
{
curIndex = 0;
}
// curIndex = (2 - 1) % 3 = 1
curVal = series[curIndex];
curValB = seriesB[curIndex];
float nextVal = series[indexPos];
float nextValB = seriesB[indexPos];
// onbump (s, 1, 1, 3)
// if(onBump(series, curIndex, N, windowSize))
if (prevVal < curVal && curVal > nextVal)
{
float maxValue = MAX(prevVal, nextVal);

series[curIndex] = maxValue;
int k = curIndex;
for (int j = 1; j < N; j++)
{
if (++k >= windowSize)
{
k = 0;
}
series[k] = maxValue;
}
}

if (prevValB < curValB && curValB > nextValB)
{
float maxValue = MAX(prevValB, nextValB);

curVal = maxValue;
seriesB[curIndex] = maxValue;
int k = curIndex;
for (int j = 1; j < N; j++)
{
if (++k >= windowSize)
{
k = 0;
}
seriesB[k] = maxValue;
}
}
prevVal = curVal;
prevValB = curValB;
curIndex++;
indexPos++;
}

curIndex = (indexNeg + 1) % windowSize;
prevVal = series[indexNeg];
prevValB = seriesB[indexNeg];
indexPos = (curIndex + N) % windowSize;
for (int i = windowSize - 2 * N; i < windowSize - N; i++)
{
if (indexPos >= windowSize)
{
indexPos = 0;
}
if (curIndex >= windowSize)
{
curIndex = 0;
}
// curIndex = (2 - 1) % 3 = 1
curVal = series[curIndex];
curValB = seriesB[curIndex];
float nextVal = series[indexPos];
float nextValB = seriesB[indexPos];

if (prevVal > curVal && curVal < nextVal)
{
float minValue = MIN(prevVal, nextVal);

curVal = minValue;
series[curIndex] = minValue;
int k = curIndex;
for (int j = 1; j < N; j++)
{
if (++k >= windowSize)
{
k = 0;
}
series[k] = minValue;
}
}

if (prevValB > curValB && curValB < nextValB)
{
float minValue = MIN(prevValB, nextValB);
curValB = minValue;
seriesB[curIndex] = minValue;
int k = curIndex;
for (int j = 1; j < N; j++)
{
if (++k >= windowSize)
{
k = 0;
}
seriesB[k] = minValue;
}
}
prevVal = curVal;
prevValB = curValB;
curIndex++;
indexPos++;
}
}
return (curVal - curValB) / 2;
memset(filter->luluInterim, 0, sizeof(float) * (filter->windowSize));
memset(filter->luluInterimB, 0, sizeof(float) * (filter->windowSize));
}

FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input)
{
// This is the value N of the LULU filter.
int filterN = filter->N;
// This is the total window size for the rolling buffer
int filterWindow = filter->windowSize;

int windowIndex = filter->windowBufIndex;
float inputVal = input;
int newIndex = (windowIndex + 1) % filterWindow;
filter->windowBufIndex = newIndex;
filter->luluInterim[windowIndex] = inputVal;
filter->luluInterimB[windowIndex] = -inputVal;
return fixRoad(filter->luluInterim, filter->luluInterimB, windowIndex, filterN, filterWindow);
FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize) {
float curVal = 0;
float curValB = 0;
for (int N = 1; N <= filterN; N++) {
int indexNeg = (index + windowSize - 2 * N) % windowSize;
int curIndex = (indexNeg + 1) % windowSize;
float prevVal = series[indexNeg];
float prevValB = seriesB[indexNeg];
int indexPos = (curIndex + N) % windowSize;
for (int i = windowSize - 2 * N; i < windowSize - N; i++) {
if (indexPos >= windowSize) {
indexPos = 0;
}
if (curIndex >= windowSize) {
curIndex = 0;
}

curVal = series[curIndex];
curValB = seriesB[curIndex];
float nextVal = series[indexPos];
float nextValB = seriesB[indexPos];

if (prevVal < curVal && curVal > nextVal) {
float maxValue = MAX(prevVal, nextVal);
series[curIndex] = maxValue;
}

if (prevValB < curValB && curValB > nextValB) {
float maxValue = MAX(prevValB, nextValB);
seriesB[curIndex] = maxValue;
}
prevVal = curVal;
prevValB = curValB;
curIndex++;
indexPos++;
}

curIndex = (indexNeg + 1) % windowSize;
prevVal = series[indexNeg];
prevValB = seriesB[indexNeg];
indexPos = (curIndex + N) % windowSize;
for (int i = windowSize - 2 * N; i < windowSize - N; i++) {
if (indexPos >= windowSize) {
indexPos = 0;
}
if (curIndex >= windowSize) {
curIndex = 0;
}

curVal = series[curIndex];
curValB = seriesB[curIndex];
float nextVal = series[indexPos];
float nextValB = seriesB[indexPos];

if (prevVal > curVal && curVal < nextVal) {
float minValue = MIN(prevVal, nextVal);
series[curIndex] = minValue;
}

if (prevValB > curValB && curValB < nextValB) {
float minValue = MIN(prevValB, nextValB);
seriesB[curIndex] = minValue;
}
prevVal = curVal;
prevValB = curValB;
curIndex++;
indexPos++;
}
}
int finalIndex = (index + windowSize - filterN) % windowSize;
curVal = series[finalIndex];
curValB = seriesB[finalIndex];
return (curVal - curValB) / 2;
}

FAST_CODE float luluFilterApply(luluFilter_t *filter, float input)
{
// This is the UL filter
float resultA = luluFilterPartialApply(filter, input);
// We use the median interpretation of this filter to remove bias in the output
return resultA;
FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input) {
// This is the value N of the LULU filter.
int filterN = filter->N;
// This is the total window size for the rolling buffer
int filterWindow = filter->windowSize;

int windowIndex = filter->windowBufIndex;
float inputVal = input;
int newIndex = (windowIndex + 1) % filterWindow;
filter->windowBufIndex = newIndex;
filter->luluInterim[windowIndex] = inputVal;
filter->luluInterimB[windowIndex] = -inputVal;
return fixRoad(filter->luluInterim, filter->luluInterimB, windowIndex, filterN, filterWindow);
}

FAST_CODE float luluFilterApply(luluFilter_t *filter, float input) {
// This is the UL filter
float resultA = luluFilterPartialApply(filter, input);
// We use the median interpretation of this filter to remove bias in the output
return resultA;
}
3 changes: 1 addition & 2 deletions src/main/common/lulu.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,7 @@
#pragma once

// Max N = 15
typedef struct
{
typedef struct {
int windowSize;
int windowBufIndex;
int N;
Expand Down
Loading