AlphaFilter: set dt during update #24116

bresch · 2024-12-16T13:48:11Z

Solved Problem

We have some "Alpha" low-pass filters with the constant gain (i.e.: assuming a constant dt). If the dt changes or has jitter, the actual time constant/cutoff is different than expected.
It is cumbersome to always call setParameters before an update function of the AlphaFilter class to update dt.

Solution

Store the filter time constant as a member variable
Allow passing dt as an argument of the update function
Allow setting the time constant in the constructor

Test coverage

unit tests

github-actions · 2024-12-16T13:53:35Z

🔎 FLASH Analysis

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  +0.1%     +16  [ = ]       0    ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
  +0.3%     +56  [ = ]       0    ../../src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
  +0.0%      +8  [ = ]       0    [section .debug_ranges]
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  +0.1%     +44  [ = ]       0    ../../src/modules/airspeed_selector/airspeed_selector_main.cpp
  +0.0%     +13  [ = ]       0    ../../src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
  +0.2%    +475  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
  +0.0%      +1  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
-0.5%      -1  [ = ]       0    .shstrtab
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  -8.1%     -32  [ = ]       0    ../../src/lib/version/version.c
  +0.4%      +1  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp
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+0.0% +9.65Ki  +0.0%    +680    TOTAL

Updated: 2024-12-18T09:40:32

MaEtUgR

Just a few comments to consider. I was thinking to make such a change before but had settled for the simplest possible interface which was neither the most convenient nor the most fitting for some client code.

Also why does this commit message start with temp?

src/modules/ekf2/EKF/ekf.h

Then the update function can set the dt at every iteration if needed

The calculation of "alpha" in the accel_horiz and height_rate lowpass filters is slightly different than before.

MaEtUgR

Thanks for addressing all my nit-picks 👍

bresch requested review from dagar and MaEtUgR December 16, 2024 13:48

bresch self-assigned this Dec 16, 2024

MaEtUgR reviewed Dec 17, 2024

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bresch added 2 commits December 18, 2024 10:28

AlphaFilter: allow setting dt in update call

a58b070

AlphaFilter: set time constant instead of alpha

2c51cf7

Then the update function can set the dt at every iteration if needed

bresch force-pushed the pr-alpha-dt branch from 5c39bea to d9e9af4 Compare December 18, 2024 09:31

bresch added 2 commits December 18, 2024 10:35

ekf2: use alpha filter class

84904cc

ekf: update change indicator

ccb0bce

The calculation of "alpha" in the accel_horiz and height_rate lowpass filters is slightly different than before.

bresch force-pushed the pr-alpha-dt branch from d9e9af4 to ccb0bce Compare December 18, 2024 09:35

MaEtUgR approved these changes Dec 18, 2024

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MaEtUgR merged commit 6b10f1c into main Dec 18, 2024
57 of 60 checks passed

MaEtUgR deleted the pr-alpha-dt branch December 18, 2024 13:11

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AlphaFilter: set dt during update #24116

AlphaFilter: set dt during update #24116

bresch commented Dec 16, 2024

github-actions bot commented Dec 16, 2024 •

edited

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AlphaFilter: set dt during update #24116

AlphaFilter: set dt during update #24116

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bresch commented Dec 16, 2024

Solved Problem

Solution

Test coverage

github-actions bot commented Dec 16, 2024 • edited Loading

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github-actions bot commented Dec 16, 2024 •

edited

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