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FilterReview: support up to four harmonic notches #362

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69 changes: 50 additions & 19 deletions FilterReview/FilterReview.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -443,7 +443,7 @@ function reset() {
}

// Reset FFT plot notch selection
for (let i = 0; i < 2; i++) {
for (let i = 0; i < num_notches; i++) {
let check = document.getElementById("Notch" + (i+1) + "Show")
check.disabled = true
check.checked = false
Expand Down Expand Up @@ -492,6 +492,8 @@ var fft_plot = {}
var Bode = {}
var flight_data = {}
const max_num_harmonics = 16
const num_notches = 4
const notch_dash = ["solid", "dot", "dash", "dashdot"]
function setup_plots() {

const time_scale_label = "Time (s)"
Expand Down Expand Up @@ -610,9 +612,9 @@ function setup_plots() {
}

// Add tracking lines
// Two harmonic notch filters each with upto 8 harmonics
for (let i=0;i<2;i++) {
let dash = (i == 0) ? "solid" : "dot"
// Harmonic notch filters each with upto 16 harmonics
for (let i=0;i<num_notches;i++) {
let dash = notch_dash[i]
for (let j=0;j<max_num_harmonics;j++) {
// Mean line
fft_plot.layout.shapes.push({
Expand Down Expand Up @@ -692,10 +694,10 @@ function setup_plots() {
}]

// Add tracking lines
// Two harmonic notch filters each with upto 16 harmonics
for (let i=0;i<2;i++) {
// Harmonic notch filters each with upto 16 harmonics
for (let i=0;i<num_notches;i++) {
let Group_name = "Notch " + (i+1)
let dash = (i == 0) ? "solid" : "dot"
let dash = notch_dash[i]
for (let j=0;j<max_num_harmonics;j++) {
let name = (j == 0) ? "Fundamental" : "Harmonic " + (j+1)
Spectrogram.data.push({
Expand All @@ -712,9 +714,9 @@ function setup_plots() {
}

// Logged notch tacking
for (let i=0;i<2;i++) {
for (let i=0;i<num_notches;i++) {
let Group_name = "Logged Notch " + (i+1)
let dash = (i == 0) ? "solid" : "dot"
let dash = notch_dash[i]
for (let j=0;j<max_num_harmonics;j++) {
let name = (j == 0) ? "Fundamental" : "Harmonic " + (j+1)
Spectrogram.data.push({
Expand All @@ -724,7 +726,7 @@ function setup_plots() {
visible: false,
name: name,
meta: Group_name + "<br>" + name,
legendgroup: i+2,
legendgroup: i+num_notches,
legendgrouptitle: { text: "" }
})
}
Expand Down Expand Up @@ -1581,7 +1583,7 @@ function redraw_Spectrogram() {
for (let i=0;i<filters.notch.length;i++) {
// Plus one for the spectrogram plot
const plot_offset = i * max_num_harmonics + 1
const logged_offset = max_num_harmonics * 2
const logged_offset = max_num_harmonics * num_notches

// Hide all
for (let j=0;j<max_num_harmonics;j++) {
Expand Down Expand Up @@ -1653,7 +1655,7 @@ function redraw_Spectrogram() {
plot_data = build_plot_array(fundamental)

const show_logged = document.getElementById("SpecNotchShowLogged").checked
const logged_offset = max_num_harmonics * 2
const logged_offset = max_num_harmonics * num_notches
for (let j=0;j<max_num_harmonics;j++) {
if ((logged_tracking[i].harmonics & (1<<j)) == 0) {
continue
Expand All @@ -1680,7 +1682,7 @@ function update_hidden_spec(source) {

// Offset by the total number of lines over
const show_logged = document.getElementById("SpecNotchShowLogged").checked
const logged_offset = max_num_harmonics * 2
const logged_offset = max_num_harmonics * num_notches

const plot_offset = notch_num * max_num_harmonics + 1

Expand Down Expand Up @@ -1711,7 +1713,7 @@ function update_logged_notch_hidden_spec(source) {

// Offset by the total number of lines over
const show_logged = source.checked
const logged_offset = max_num_harmonics * 2
const logged_offset = max_num_harmonics * num_notches

for (let i=0;i<filters.notch.length;i++) {
const plot_offset = i * max_num_harmonics + 1
Expand Down Expand Up @@ -1836,7 +1838,7 @@ function update_hidden(source) {
}

function get_HNotch_param_names() {
let prefix = ["INS_HNTCH_", "INS_HNTC2_"]
let prefix = ["INS_HNTCH_", "INS_HNTC2_", "INS_HNTC3_", "INS_HNTC4_"]
let ret = []
for (let i = 0; i < prefix.length; i++) {
ret[i] = {enable: prefix[i] + "ENABLE",
Expand All @@ -1853,6 +1855,19 @@ function get_HNotch_param_names() {
return ret
}

// Show or hide a notch, the third and fourth notches are only available on some firmware
function show_notch(index, show) {
const num = index + 1
const display = show ? "" : "none"
document.getElementById("Notch" + num + "Params").style.display = display
document.getElementById("Notch" + num + "ShowGroup").style.display = display
document.getElementById("SpecNotch" + num + "ShowGroup").style.display = display

// Hide the table holding the extra notches if none are shown
const any_shown = ["Notch3Params", "Notch4Params"].some((id) => document.getElementById(id).style.display != "none")
document.getElementById("ExtraNotches").style.display = any_shown ? "" : "none"
}

function load_filters() {

filters = []
Expand Down Expand Up @@ -2031,6 +2046,14 @@ async function load_parameters(file) {
}
}

// Show the third and fourth notches if they are in the file
const HNotch_params = get_HNotch_param_names()
for (let i = 2; i < HNotch_params.length; i++) {
if (text.includes(HNotch_params[i].enable)) {
show_notch(i, true)
}
}

filter_param_read()
re_calc()
}
Expand Down Expand Up @@ -2469,8 +2492,10 @@ async function load(log_file) {
new RPMTarget(log, 2, 5)]

// Load logged notch fequencies for comparison
logged_tracking = [ new LoggedNotch(log, 0),
new LoggedNotch(log, 1) ]
logged_tracking = []
for (let i = 0; i < num_notches; i++) {
logged_tracking.push(new LoggedNotch(log, i))
}

// If log data is present allow user to show it
let show_logged_notch = false
Expand All @@ -2495,6 +2520,11 @@ async function load(log_file) {
}
}

// Only show the third and fourth notches if the firmware has them
for (let i = 2; i < HNotch_params.length; i++) {
show_notch(i, get_param(HNotch_params[i].enable) != null)
}

const other_params = ["INS_GYRO_FILTER", "SCHED_LOOP_RATE"]
for (const param of other_params) {
const value = get_param(param)
Expand Down Expand Up @@ -2574,8 +2604,9 @@ async function load(log_file) {
// Enable top level filter params
parameter_set_disable("INS_GYRO_FILTER", false)
parameter_set_disable("SCHED_LOOP_RATE", false)
parameter_set_disable("INS_HNTCH_ENABLE", false)
parameter_set_disable("INS_HNTC2_ENABLE", false)
for (const names of get_HNotch_param_names()) {
parameter_set_disable(names.enable, false)
}

// Load filters from params
filter_param_read()
Expand Down
99 changes: 97 additions & 2 deletions FilterReview/index.html
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -380,7 +380,7 @@ <h2 style="text-align:center">IMU Spectrum
</fieldset>
</td>
<td>
<fieldset style="width:240px;height:40px">
<fieldset style="width:240px;min-height:40px">
<legend>Notch tracking
<img id="TT" src="../images/question-circle.svg" style="width: 1em; vertical-align: bottom"
data-tippy-content='Show/hide the center frequency and movement range of enabled notch filters. These should line up with noise peaks.',
Expand All @@ -391,6 +391,16 @@ <h2 style="text-align:center">IMU Spectrum

<input type="checkbox" id="Notch2Show" name="Notch2Show" onchange="update_hidden(this)">
<label for="Notch2Show">Show notch 2</label>

<span id="Notch3ShowGroup" style="display:none">
<input type="checkbox" id="Notch3Show" name="Notch3Show" onchange="update_hidden(this)">
<label for="Notch3Show">Show notch 3</label>
</span>

<span id="Notch4ShowGroup" style="display:none">
<input type="checkbox" id="Notch4Show" name="Notch4Show" onchange="update_hidden(this)">
<label for="Notch4Show">Show notch 4</label>
</span>
</fieldset>
</td>
<td>
Expand Down Expand Up @@ -536,6 +546,81 @@ <h2 style="text-align:center">Filter Configuration
</td>
</tr>
</table>
<table id="ExtraNotches" style="display:none">
<tr>
<td style="width: 30px;"></td>
<td style="vertical-align: top">
<fieldset id="Notch3Params" style="width:532px;display:none">
<legend>Third Notch Filter</legend>
<p>
<input id="INS_HNTC3_ENABLE" name="INS_HNTC3_ENABLE" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_MODE" name="INS_HNTC3_MODE" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_FREQ" name="INS_HNTC3_FREQ" type="number" step="0.1" value="0"style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_BW" name="INS_HNTC3_BW" type="number" step="0.1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_ATT" name="INS_HNTC3_ATT" type="number" step="0.1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_REF" name="INS_HNTC3_REF" type="number" step="0.01" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_FM_RAT" name="INS_HNTC3_FM_RAT" type="number" step="0.01" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_HMNCS" name="INS_HNTC3_HMNCS" type="number" step="1" value="0" style="width: 100px" data-bitmask-columns="4" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC3_OPTS" name="INS_HNTC3_OPTS" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p style="display:none">
<input id="INS_HNTC3_ESCMSK" name="INS_HNTC3_ESCMSK" type="number" step="1" value="0" style="width: 100px" data-bitmask-columns="6" onchange="filter_param_read()"/>
</p>
</fieldset>
</td>
<td style="vertical-align: top">
<fieldset id="Notch4Params" style="width:532px;display:none">
<legend>Fourth Notch Filter</legend>
<p>
<input id="INS_HNTC4_ENABLE" name="INS_HNTC4_ENABLE" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_MODE" name="INS_HNTC4_MODE" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_FREQ" name="INS_HNTC4_FREQ" type="number" step="0.1" value="0"style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_BW" name="INS_HNTC4_BW" type="number" step="0.1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_ATT" name="INS_HNTC4_ATT" type="number" step="0.1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_REF" name="INS_HNTC4_REF" type="number" step="0.01" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_FM_RAT" name="INS_HNTC4_FM_RAT" type="number" step="0.01" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_HMNCS" name="INS_HNTC4_HMNCS" type="number" step="1" value="0" style="width: 100px" data-bitmask-columns="4" onchange="filter_param_read()"/>
</p>
<p>
<input id="INS_HNTC4_OPTS" name="INS_HNTC4_OPTS" type="number" step="1" value="0" style="width: 100px" onchange="filter_param_read()"/>
</p>
<p style="display:none">
<input id="INS_HNTC4_ESCMSK" name="INS_HNTC4_ESCMSK" type="number" step="1" value="0" style="width: 100px" data-bitmask-columns="6" onchange="filter_param_read()"/>
</p>
</fieldset>
</td>
</tr>
</table>

<table><tr><td style="width:1200px">
<h2 style="text-align:center">IMU Spectrogram
Expand Down Expand Up @@ -599,7 +684,7 @@ <h2 style="text-align:center">IMU Spectrogram
</fieldset>
</td>
<td>
<fieldset style="width:240px;height:40px">
<fieldset style="width:240px;min-height:40px">
<legend>Notch tracking
<img id="TT" src="../images/question-circle.svg" style="width: 1em; vertical-align: bottom"
data-tippy-content='Show/hide the center frequency and movement range of enabled notch filters. These should line up with noise peaks.
Expand All @@ -612,6 +697,16 @@ <h2 style="text-align:center">IMU Spectrogram
<input type="checkbox" id="SpecNotch2Show" name="SpecNotch2Show" onchange="update_hidden_spec(this)">
<label for="SpecNotch2Show">Notch 2</label>

<span id="SpecNotch3ShowGroup" style="display:none">
<input type="checkbox" id="SpecNotch3Show" name="SpecNotch3Show" onchange="update_hidden_spec(this)">
<label for="SpecNotch3Show">Notch 3</label>
</span>

<span id="SpecNotch4ShowGroup" style="display:none">
<input type="checkbox" id="SpecNotch4Show" name="SpecNotch4Show" onchange="update_hidden_spec(this)">
<label for="SpecNotch4Show">Notch 4</label>
</span>

<input type="checkbox" id="SpecNotchShowLogged" name="SpecNotchShowLogged" onchange="update_logged_notch_hidden_spec(this)">
<label for="SpecNotchShowLogged">Logged</label>
</fieldset>
Expand Down
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