Tuning the Harmonic Notch

Alberto_Ds · March 5, 2020, 7:52am

Hi Andy,

my MOT_THST_HOVER,0.296434 (after dynamic fly)

So i set min_freq to 190Hz and hover_freq to 200Hz

i used this:

INS_HNTCH_REF = hover_thrust * SQUAREROOT(min_freq / hover_freq)

and i set the INS_HNTCH_REF to 0.28

It’s ok?

Thanks

andyp1per · March 5, 2020, 7:58am

Yep, looks right!

More characters because

warp2 · March 6, 2020, 9:42am

Hi all
sorry for the silly question but where do I get the firmware (what version) with the notch filtering functionality for my 5" quad. I see in master 4.0.2 (did not check 4.0.3 yet) that I can analyze with FFT but I can not set the notch filter.
thanks a lot

ambattuhari · March 6, 2020, 12:43pm

Set HNOTCH_ENABLE to 1.
Reboot.
https://ardupilot.org/copter/docs/common-imu-notch-filtering.html

andyp1per · March 7, 2020, 11:00am

https://github.com/ArduPilot/ardupilot/pull/13741 is designed to help with this. It would be great if you could try it.

anbello · March 7, 2020, 12:04pm

OK @andyp1per I see, I just built your pr-filtered-harmonic-detection branch for revo-mini and pixarcer, in this afternoon (in my time zone) I will test on my 3 and 5 inch quad and I will let you know.

anbello · March 7, 2020, 3:54pm

Hi @andyp1per follows logs of indoor test for 3 inch with revo-mini:

and for 5 inch with pixracer:

andyp1per · March 7, 2020, 6:33pm

Ok perfect - it has fixed the issues on both your copters I saw in your last log, seems to be working great. Load is acceptable on both FCs as well. I would be interested to know what the output looks like with SCHED_DEBUG = 2.

anbello · March 7, 2020, 7:46pm

Console out from pixracer:

online system 1
Mode STABILIZE
HMC5843 found on bus 0x7050A
APM: Calibrating barometer
APM: ArduCopter V4.0.4-dev (264adcf6)
APM: ChibiOS: d4fce84e
APM: fmuv4 00460029 30365104 31323731
APM: RCOut: DS150:1-4 PWM:5-6
APM: Frame: QUAD
APM: Initialising ArduPilot
APM: Barometer 1 calibration complete
Init GyroMPU: temp reset IMU[0] 4267 2970
***
APM: INS: alloc 6144 bytes for ISB (free=113576)

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Scheduler slip task[9-read_rangefinder] (4294901779/40/100)
Scheduler slip task[10-update] (4294901766/4/50)
Scheduler slip task[11-update] (4294901764/2/50)
Scheduler slip task[12-update] (4294901764/2/50)
Scheduler slip task[13-update_altitude] (4294901778/80/100)
Scheduler slip task[14-run_nav_updates] (4294901778/16/100)
Scheduler slip task[15-update_throttle_hover] (4294901770/8/90)
Scheduler slip task[16-save_position] (4294901862/266/100)
Scheduler slip task[17-update] (4294901862/266/90)
Scheduler slip task[18-three_hz_loop] (4294901862/266/75)
Scheduler slip task[19-update_events] (4294901778/16/75)
Scheduler slip task[20-accumulate] (4294901778/16/90)
Scheduler slip task[21-update] (4294901778/80/100)
Scheduler slip task[22-update_precland] (4294901764/2/50)
Scheduler slip task[23-fourhundred_hz_logging] (4294901764/2/50)
Scheduler slip task[24-update] (4294901778/16/90)
Scheduler slip task[25-one_hz_loop] (4294902499/800/100)
Scheduler slip task[26-ekf_check] (4294901778/80/75)
Scheduler slip task[27-check_vibration] (4294901778/80/50)
Scheduler slip task[28-gpsglitch_check] (4294901778/80/50)
Scheduler slip task[29-landinggear_update] (4294901778/80/75)
Scheduler slip task[30-standby_update] (4294901770/8/75)
Scheduler slip task[31-lost_vehiScheduler slip task[13-update_altitude] (4294901779/80/100)
Scheduler slip task[14-run_nav_updates] (4294901779/16/100)
Scheduler slip task[15-update_throttle_hover] (4294901771/8/90)
Scheduler slip task[16-save_position] (4294901863/266/100)
Scheduler slip task[17-update] (4294901864/266/90)
Scheduler slip task[18-three_hz_loop] (4294901864/266/75)
Scheduler slip task[19-update_events] (4294901780/16/75)
Scheduler slip task[20-accumulate] (4294901780/16/90)
Scheduler slip task[21-update] (4294901780/80/100Scheduler slip task[23-fourhundred_hz_logging] (4294901767/2/50)
Scheduler slip task[24-update] (4294901781/16/90)
Scheduler slip task[25-one_hz_loop] (4294902502/800/100)
Scheduler slip task[26-ekf_check] (4294901781/80/75)
Scheduler slip task[27-check_vibration] (4294901781/80/50)
Scheduler slip task[28-gpsglitch_check] (4294901781/80/50)
Scheduler slip task[29-landinggear_update] (4294901781/80/75)
Scheduler slip task[30-standby_update] (4294901773/8/75)
Scheduler slip task[31-lost_vehicle_check] (429490Scheduler slip task[41-rpm_update] (4294901781/20/200)
Scheduler slip task[42-compass_cal_update] (4294901773/8/100)
Scheduler slip task[43-accel_cal_update] (4294901783/80/100)
Scheduler slip task[44-update] (4294901783/80/100)
Scheduler slip task[45-avoidance_adsb_update] (4294901783/80/100)
APM: PERF: 7/1544 [15549:1168] F=698Hz sd=470 Ex=800
Scheduler slip task[46-terrain_update] (4294901784/80/100)
Scheduler slip task[47-update] (4294901784/80/75)
Scheduler slip task[48-update] (4294901866/160/1Scheduler slip task[52-update_parameters] (4294902507/800/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
APM: PERF: 17/8000 [2442:856] F=800Hz sd=36 Ex=0
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
Scheduler slip task[51-sample_gyros] (2/1/50)
APM: PERF: 16/8000 [2121:600] F=799Hz sd=32 Ex=0
APM: PreArm: Throttle below Failsafe

andyp1per · March 7, 2020, 8:08pm

Ok, interesting. sample_gyros() does virtually nothing now, so this confirms my suspicion that it’s an artifact of running tasks at the fast loop rate. What do you have SCHED_LOOP_RATE set to?

andyp1per · March 7, 2020, 8:47pm

Actually can you try just one thing? Comment out AP_GyroFFT.cpp:319 (the line that says WITH_SEMAPHORE(_sem);) and see if that helps - I’d just like to eliminate contention between the fft and main threads.

anbello · March 7, 2020, 8:51pm

SCHED_LOOP_RATE=800
Tomorrow morning I will test commenting that line

andyp1per · March 7, 2020, 9:03pm

Ok, to enable FFT by default on that board we need to see the output at SCHED_LOOP_RATE=400

… and I can reproduce this on an omnibusf4pro and it’s the loop rate that is the problem - loop rate of 400 has no issues.

anbello · March 8, 2020, 12:07am

On which board? Revo-mini, pixracer or both?

andyp1per · March 8, 2020, 7:36am

Probably only revo-mini - the Pixracer is a 2Mb board so it is enabled by default

The slip at 800Hz is definitely a bug nothing to do with FFT:

anbello · March 8, 2020, 9:07am

@andyp1per do you still need other 400Hz tests and the test with line 319 commented?

I asked this because of your latest post.

andyp1per · March 8, 2020, 11:03am

No, now I know what the problem is I have a better solution.

This is my fix https://github.com/ArduPilot/ardupilot/pull/13758 will work better in combination with the other PR.

@anbello I have included all these changes in https://github.com/andyp1per/ardupilot/tree/small-copter-4.1 now

anbello · March 10, 2020, 7:33am

Thanks a lot I will test it ASAP.

andyp1per · March 10, 2020, 9:05am

What it would be great to see is a reasonable length dynamic flight with both the double notch and FFT enabled. And to have logs for both pre- and post- filter. … and ideally a comparison with stock master although I realise that is asking a lot. I’m still waiting for weather that actually allows me to try some of these things. I’m pretty confident in the improvement now, but would be good to see some actual flight data!

BTW FFT docs are now in review - any comments appreciated: https://github.com/ArduPilot/ardupilot_wiki/blob/2c85541662f8f9774031daad0c7206449f052434/common/source/docs/common-imu-fft.rst

anbello · March 10, 2020, 12:25pm

In the next days I can do some indoor flight test but for outdoor test we have to wait more.

Regarding FFT doc:

In “Pre-Flight Setup” you say to set INS_HNTCH_MODE and INS_HNTCH_REF before to say to set INS_HNTCH_ENABLE

This is my doubt:
I thought that with FFT enabled and INS_HNTCH_MODE=4 also INS_HNTCH_REF and INS_HNTCH_BW were automatically taken from values calculated from FFT.