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Do not allow users to set throttle-based notch in Heli #28843

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Do not allow users to set throttle-based notch in Heli #28843

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AP_InertialSensor: Add config error for helis trying to use throttle …
MattKear Dec 5, 2024
ea5a4ea
Filter: Make heli default mode for harmonic notch tracking = fixed
MattKear Dec 5, 2024
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10 changes: 10 additions & 0 deletions libraries/AP_InertialSensor/AP_InertialSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1006,6 +1006,16 @@ AP_InertialSensor::init(uint16_t loop_rate)
#endif

#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED

#if APM_BUILD_TYPE(APM_BUILD_Heli)
// Throttle tracking does not make sense with heli because "throttle" is actually collective position in AP_MotorsHeli
for (auto &notch : harmonic_notches) {
if (notch.params.enabled() && notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateThrottle) {
AP_BoardConfig::config_error("Throttle notch unavailable with heli");
}
}
#endif

// the center frequency of the harmonic notch is always taken from the calculated value so that it can be updated
// dynamically, the calculated value is always some multiple of the configured center frequency, so start with the
// configured value
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10 changes: 9 additions & 1 deletion libraries/Filter/HarmonicNotchFilter.cpp
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Expand Up @@ -21,6 +21,7 @@
#include "HarmonicNotchFilter.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>

#define HNF_MAX_FILTERS HAL_HNF_MAX_FILTERS // must be even for double-notch filters

Expand Down Expand Up @@ -48,6 +49,13 @@
*/
#define NOTCHFILTER_ATTENUATION_CUTOFF 0.25

#if APM_BUILD_TYPE(APM_BUILD_Heli)
// We cannot use throttle based notch on helis
#define NOTCHFILTER_DEFAULT_MODE 0 // fixed
#else
#define NOTCHFILTER_DEFAULT_MODE 1 // throttle based
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Think this should be int8_t(HarmonicNotchDynamicMode::UpdateThrottle) etc

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All defaults are floats.

#endif


// table of user settable parameters
const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
Expand Down Expand Up @@ -120,7 +128,7 @@ const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
// @Range: 0 5
// @Values: 0:Fixed,1:Throttle,2:RPM Sensor,3:ESC Telemetry,4:Dynamic FFT,5:Second RPM Sensor
// @User: Advanced
AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, int8_t(HarmonicNotchDynamicMode::UpdateThrottle)),
AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, NOTCHFILTER_DEFAULT_MODE),

// @Param: OPTS
// @DisplayName: Harmonic Notch Filter options
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