LULU filter port to iNav as a single replacement for most filters in iNav, simplifying filter configuration drastically #10145
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,186 @@ | ||
| #include "lulu.h" | ||
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| #include <stdbool.h> | ||
| #include <stdint.h> | ||
| #include <string.h> | ||
| #include <math.h> | ||
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| #include "platform.h" | ||
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| #include "common/filter.h" | ||
| #include "common/maths.h" | ||
| #include "common/utils.h" | ||
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| #ifdef __ARM_ACLE | ||
| #include <arm_acle.h> | ||
| #endif /* __ARM_ACLE */ | ||
| #include <fenv.h> | ||
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| void luluFilterInit(luluFilter_t *filter, int N) | ||
| { | ||
| if (N > 15) | ||
| { | ||
| N = 15; | ||
| } | ||
| if (N < 1) | ||
| { | ||
| N = 1; | ||
| } | ||
| filter->N = N; | ||
| filter->windowSize = filter->N * 2 + 1; | ||
| filter->windowBufIndex = 0; | ||
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| memset(filter->luluInterim, 0, sizeof(float) * (filter->windowSize)); | ||
| memset(filter->luluInterimB, 0, sizeof(float) * (filter->windowSize)); | ||
| } | ||
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| FAST_CODE float fixRoad(float *series, float *seriesB, int index, int filterN, int windowSize) | ||
| { | ||
| register float curVal = 0; | ||
| register float curValB = 0; | ||
| for (int N = 1; N <= filterN; N++) | ||
| { | ||
| int indexNeg = (index + windowSize - 2 * N) % windowSize; | ||
| register int curIndex = (indexNeg + 1) % windowSize; | ||
| register float prevVal = series[indexNeg]; | ||
| register float prevValB = seriesB[indexNeg]; | ||
| register int indexPos = (curIndex + N) % windowSize; | ||
| for (int i = windowSize - 2 * N; i < windowSize - N; i++) | ||
| { | ||
| if (indexPos >= windowSize) | ||
| { | ||
| indexPos = 0; | ||
| } | ||
| if (curIndex >= windowSize) | ||
| { | ||
| curIndex = 0; | ||
| } | ||
| // curIndex = (2 - 1) % 3 = 1 | ||
| curVal = series[curIndex]; | ||
| curValB = seriesB[curIndex]; | ||
| register float nextVal = series[indexPos]; | ||
| register float nextValB = seriesB[indexPos]; | ||
| // onbump (s, 1, 1, 3) | ||
| // if(onBump(series, curIndex, N, windowSize)) | ||
| if (prevVal < curVal && curVal > nextVal) | ||
| { | ||
| float maxValue = MAX(prevVal, nextVal); | ||
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| series[curIndex] = maxValue; | ||
| register int k = curIndex; | ||
| for (int j = 1; j < N; j++) | ||
| { | ||
| if (++k >= windowSize) | ||
| { | ||
| k = 0; | ||
| } | ||
| series[k] = maxValue; | ||
| } | ||
| } | ||
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| if (prevValB < curValB && curValB > nextValB) | ||
| { | ||
| float maxValue = MAX(prevValB, nextValB); | ||
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| curVal = maxValue; | ||
| seriesB[curIndex] = maxValue; | ||
| register int k = curIndex; | ||
| for (int j = 1; j < N; j++) | ||
| { | ||
| if (++k >= windowSize) | ||
| { | ||
| k = 0; | ||
| } | ||
| seriesB[k] = maxValue; | ||
| } | ||
| } | ||
| prevVal = curVal; | ||
| prevValB = curValB; | ||
| curIndex++; | ||
| indexPos++; | ||
| } | ||
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| curIndex = (indexNeg + 1) % windowSize; | ||
| prevVal = series[indexNeg]; | ||
| prevValB = seriesB[indexNeg]; | ||
| indexPos = (curIndex + N) % windowSize; | ||
| for (int i = windowSize - 2 * N; i < windowSize - N; i++) | ||
| { | ||
| if (indexPos >= windowSize) | ||
| { | ||
| indexPos = 0; | ||
| } | ||
| if (curIndex >= windowSize) | ||
| { | ||
| curIndex = 0; | ||
| } | ||
| // curIndex = (2 - 1) % 3 = 1 | ||
| curVal = series[curIndex]; | ||
| curValB = seriesB[curIndex]; | ||
| register float nextVal = series[indexPos]; | ||
| register float nextValB = seriesB[indexPos]; | ||
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| if (prevVal > curVal && curVal < nextVal) | ||
| { | ||
| float minValue = MIN(prevVal, nextVal); | ||
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| curVal = minValue; | ||
| series[curIndex] = minValue; | ||
| register int k = curIndex; | ||
| for (int j = 1; j < N; j++) | ||
| { | ||
| if (++k >= windowSize) | ||
| { | ||
| k = 0; | ||
| } | ||
| series[k] = minValue; | ||
| } | ||
| } | ||
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| if (prevValB > curValB && curValB < nextValB) | ||
| { | ||
| float minValue = MIN(prevValB, nextValB); | ||
| curValB = minValue; | ||
| seriesB[curIndex] = minValue; | ||
| register int k = curIndex; | ||
| for (int j = 1; j < N; j++) | ||
| { | ||
| if (++k >= windowSize) | ||
| { | ||
| k = 0; | ||
| } | ||
| seriesB[k] = minValue; | ||
| } | ||
| } | ||
| prevVal = curVal; | ||
| prevValB = curValB; | ||
| curIndex++; | ||
| indexPos++; | ||
| } | ||
| } | ||
| return (curVal - curValB) / 2; | ||
| } | ||
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| FAST_CODE float luluFilterPartialApply(luluFilter_t *filter, float input) | ||
| { | ||
| // This is the value N of the LULU filter. | ||
| register int filterN = filter->N; | ||
| // This is the total window size for the rolling buffer | ||
| register int filterWindow = filter->windowSize; | ||
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| register int windowIndex = filter->windowBufIndex; | ||
| register float inputVal = input; | ||
| register int newIndex = (windowIndex + 1) % filterWindow; | ||
| filter->windowBufIndex = newIndex; | ||
| filter->luluInterim[windowIndex] = inputVal; | ||
| filter->luluInterimB[windowIndex] = -inputVal; | ||
| return fixRoad(filter->luluInterim, filter->luluInterimB, windowIndex, filterN, filterWindow); | ||
| } | ||
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| FAST_CODE float luluFilterApply(luluFilter_t *filter, float input) | ||
| { | ||
| // This is the UL filter | ||
| float resultA = luluFilterPartialApply(filter, input); | ||
| // We use the median interpretation of this filter to remove bias in the output | ||
| return resultA; | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| #pragma once | ||
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| // Max N = 15 | ||
| typedef struct | ||
| { | ||
| int windowSize; | ||
| int windowBufIndex; | ||
| int N; | ||
| float luluInterim[32] __attribute__((aligned(128))); | ||
| float luluInterimB[32]; | ||
| } luluFilter_t; | ||
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| void luluFilterInit(luluFilter_t *filter, int N); | ||
| float luluFilterApply(luluFilter_t *filter, float input); |
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