{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/4965","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/4965/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/4965/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/4965/events","html_url":"https://github.com/betaflight/betaflight/pull/4965","id":288457957,"number":4965,"title":"Biquad RC+FIR2 Filter: Prototype of ledvinap's suggestion on #4890","user":{"login":"fujin","id":6873,"avatar_url":"https://avatars1.githubusercontent.com/u/6873?v=4","gravatar_id":"","url":"https://api.github.com/users/fujin","html_url":"https://github.com/fujin","followers_url":"https://api.github.com/users/fujin/followers","following_url":"https://api.github.com/users/fujin/following{/other_user}","gists_url":"https://api.github.com/users/fujin/gists{/gist_id}","starred_url":"https://api.github.com/users/fujin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fujin/subscriptions","organizations_url":"https://api.github.com/users/fujin/orgs","repos_url":"https://api.github.com/users/fujin/repos","events_url":"https://api.github.com/users/fujin/events{/privacy}","received_events_url":"https://api.github.com/users/fujin/received_events","type":"User","site_admin":false},"labels":[{"id":330919548,"url":"https://api.github.com/repos/betaflight/betaflight/labels/For%20Discussion","name":"For Discussion","color":"bfe5bf","default":false},{"id":668857686,"url":"https://api.github.com/repos/betaflight/betaflight/labels/RN:%20IMPROVEMENT","name":"RN: IMPROVEMENT","color":"f9d0c4","default":false}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/betaflight/betaflight/milestones/6","html_url":"https://github.com/betaflight/betaflight/milestone/6","labels_url":"https://api.github.com/repos/betaflight/betaflight/milestones/6/labels","id":2278187,"number":6,"title":"Betaflight v3.3","description":" Feature freeze for v3.3: February 1, 2018","creator":{"login":"blckmn","id":6168871,"avatar_url":"https://avatars2.githubusercontent.com/u/6168871?v=4","gravatar_id":"","url":"https://api.github.com/users/blckmn","html_url":"https://github.com/blckmn","followers_url":"https://api.github.com/users/blckmn/followers","following_url":"https://api.github.com/users/blckmn/following{/other_user}","gists_url":"https://api.github.com/users/blckmn/gists{/gist_id}","starred_url":"https://api.github.com/users/blckmn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/blckmn/subscriptions","organizations_url":"https://api.github.com/users/blckmn/orgs","repos_url":"https://api.github.com/users/blckmn/repos","events_url":"https://api.github.com/users/blckmn/events{/privacy}","received_events_url":"https://api.github.com/users/blckmn/received_events","type":"User","site_admin":false},"open_issues":11,"closed_issues":343,"state":"open","created_at":"2017-01-25T19:22:10Z","updated_at":"2018-02-09T07:49:31Z","due_on":"2018-03-01T08:00:00Z","closed_at":null},"comments":21,"created_at":"2018-01-15T01:25:48Z","updated_at":"2018-02-10T00:22:45Z","closed_at":"2018-01-16T03:15:34Z","author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/4965","html_url":"https://github.com/betaflight/betaflight/pull/4965","diff_url":"https://github.com/betaflight/betaflight/pull/4965.diff","patch_url":"https://github.com/betaflight/betaflight/pull/4965.patch"},"body":"As per https://github.com/betaflight/betaflight/pull/4890#issuecomment-356636997, here we have an experimental prototype of ledvinap's proposed Biquad RC+FIR2 filter, for comparison with the Fast Kalman implementation I previously submitted (on behalf of rs2k). It has been established via MATLAB/octave that the filters are equivalent (after initial transient, typically <=100 cycles).\r\n\r\nI could use some suggestions on a nicer way to afford both of these on a target at once: some type of ENUM/filter selection based on the Q/R and selecting a filter type? ~But it breaks down, as the FKF needs/wants the `gyro_kalman_p` currently.~\r\n\r\nAnyway, for now, in fc_common_pre, I have enabled this one, and disabled the other. Simply set the values and it will be enabled when both are non-zero. You could also build or modify an individual target to prefer one over the other.:\r\n```\r\n# get gyro_filter\r\ngyro_filter_q= 0\r\nAllowed range: 0 - 16000\r\n\r\ngyro_filter_r = 0\r\nAllowed range: 0 - 16000\r\n```\r\n\r\n(0 is disabled)"},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/364606980","html_url":"https://github.com/betaflight/betaflight/pull/4965#issuecomment-364606980","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/4965","id":364606980,"user":{"login":"fujin","id":6873,"avatar_url":"https://avatars1.githubusercontent.com/u/6873?v=4","gravatar_id":"","url":"https://api.github.com/users/fujin","html_url":"https://github.com/fujin","followers_url":"https://api.github.com/users/fujin/followers","following_url":"https://api.github.com/users/fujin/following{/other_user}","gists_url":"https://api.github.com/users/fujin/gists{/gist_id}","starred_url":"https://api.github.com/users/fujin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fujin/subscriptions","organizations_url":"https://api.github.com/users/fujin/orgs","repos_url":"https://api.github.com/users/fujin/repos","events_url":"https://api.github.com/users/fujin/events{/privacy}","received_events_url":"https://api.github.com/users/fujin/received_events","type":"User","site_admin":false},"created_at":"2018-02-10T00:22:45Z","updated_at":"2018-02-10T00:22:45Z","author_association":"NONE","body":"@ctzsnooze the first part is equivalent to a PT1, yes, the second part is the same as a FIR2 with coeffs 0.5, 0.5: https://github.com/betaflight/betaflight/pull/4890#issuecomment-356636997\r\n\r\n> this acts as 2 point averaging (or 2 point FIR lowpass) filter, applies in series with RC low-pass (ordering is arbitrary due to LTI)."}}
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