On Thursday 20 December 2007 11:21, LeeE wrote:
> On Thursday 20 December 2007 10:53, Roy Vegard Ovesen wrote:
> > On Tuesday 18 December 2007, LeeE wrote:
> > > Hi all,
> > >
> > > I've noticed recently that after re-loading an autopilot the
> > > filters that are being used seem to be getting a bit
> > > 'confused'. I spotted it when I was comparing the unfiltered
> > > input with the filtered output and saw that the input was
> > > stable to 2 decimal places but the filtered output seemed to
> > > be oscillating very quickly up to the first decimal place.
> > >
> > > I don't know if this happens with all filter types - all the
> > > ones I've been using are noise-spike types.
> >
> > I've seen something similar after I added an <enabled> option
> > to the filters on my local branch. Whenever I enable a filter
> > by setting some property to true (just like enabling PID
> > controllers), I see the output from the filter, wich is
> > connected to the control surface, makes the plane do some wild
> > flying.
> >
> > I believe that I need to add some initialization code to the
> > filters so that they behave nicely when they are enabled. I'm
> > working on this.
> >
> > Also I'll remove the build() call in reinit() inless there is a
> > good reason for calling build() twice.
>
> Doh! - It's only just occurred to me that we could use the
> logging facility to log the output from controllers and filters
> and analyse the results 'off-line' so to speak. Should be
> trivial to import the results into a spreadsheet and plot graphs
> - it'll only take a little bit of effort to set up the logging
> details - I'll try this when I get a chance.
>
> LeeE
got some data in a .csv - attached. TGT-PITCH-DEG is the input and
TGT-PITCH-DEGF is the output from the filter. The sampling
interval was set to 50 ms - in practice it's not as regular as that
though.
I imported it in to OO Calc to plot it and it seems to show that the
filtered output isn't crossing the input but is sort of 'bouncing'
off of it. The input _is_ varying in synch with the filtered
output but I suspect that this is because the controller, which
generates the target-pitch, is responding to the consequences of
the 'bounces' in the filtered output, which was driving the
elevator.
In any case, it seems to show that the filtered output is varying
much more than the input, which shouldn't be the case - the
noise-spike filter should only limit the rate between the input
variation levels, not exceed them.
Interestingly, this is only happens when there is some variation in
the input - if you switch off the controller that generates the
input, or cause it to max out, the filter settles down and
stabilises - the input needs to be varying a little bit for the
problem to appear.
LeeE
Time,TGT-PITCH-DEG,TGT-PITCH-DEGF
915.942,1.33209,1.431093073
915.992,1.33209,1.332092643
916.033,1.33387,1.333867431
916.1,1.33419,1.500534097
916.133,1.33419,1.367200764
916.183,1.33655,1.433867431
916.408,1.3329,1.989651442
916.408,1.3329,1.989651442
916.408,1.3329,1.989651442
916.408,1.3329,1.989651442
916.442,1.3329,1.856318108
916.483,1.34099,1.889651442
916.542,1.33116,1.789651442
916.583,1.33116,1.622984775
916.65,1.31422,1.556318108
916.692,1.29495,1.589651442
916.733,1.28033,1.556318108
916.8,1.26023,1.489651442
916.842,1.26023,1.322984775
916.883,1.24673,1.356318108
916.95,1.24201,1.242008686
916.983,1.23672,1.308675353
917.033,1.23672,1.236724138
917.092,1.23537,1.235374451
917.133,1.24104,1.268707784
917.2,1.24955,1.249554515
917.233,1.25641,1.316221182
917.3,1.26561,1.356407261
917.342,1.26561,1.265610218
917.383,1.27426,1.298943551
917.45,1.27787,1.277867556
917.483,1.28017,1.344534222
917.55,1.28304,1.380168176
917.592,1.28304,1.283035755
917.633,1.2831,1.283098459
917.7,1.28233,1.283098459
917.742,1.28149,1.382333374
917.783,1.28149,1.281490803
917.842,1.27937,1.279367566
917.883,1.27661,1.276611328
917.942,1.27424,1.509944661
917.983,1.27424,1.343277995
918.05,1.27818,1.278181434
918.092,1.27493,1.311514767
918.133,1.2723,1.341598574
918.183,1.2723,1.272304296
918.25,1.26944,1.269443274
918.292,1.27064,1.270636916
918.333,1.27033,1.337303583
918.383,1.27033,1.270326734
918.442,1.27173,1.271729112
918.483,1.27347,1.273471713
918.683,1.28299,1.939923286
918.683,1.28299,1.939923286
918.683,1.28299,1.939923286
918.683,1.28299,1.939923286
918.733,1.28299,1.739923286
918.783,1.29474,1.739923286
918.85,1.28841,1.606589953
918.892,1.27263,1.639923286
918.933,1.27263,1.47325662
918.992,1.25483,1.439923286
919.042,1.24046,1.439923286
919.083,1.22354,1.47325662
919.142,1.21445,1.439923286
919.183,1.21445,1.27325662
919.242,1.20351,1.239923286
919.292,1.20087,1.239923286
919.35,1.19963,1.199625731
919.392,1.19926,1.299625731
919.433,1.19926,1.199256182
919.483,1.20634,1.265922848
919.55,1.21445,1.214454889
919.592,1.22125,1.314454889
919.8,1.24697,1.904868126
919.8,1.24697,1.904868126
919.8,1.24697,1.904868126
919.8,1.24697,1.904868126
919.833,1.24697,1.771534793
919.892,1.2477,1.738201459
919.933,1.23738,1.704868126
919.992,1.22365,1.604868126
920.033,1.22365,1.438201459
920.1,1.2043,1.371534793
920.142,1.18818,1.338201459
920.183,1.16811,1.371534793
920.242,1.1585,1.271534793
920.283,1.1585,1.158498645
920.342,1.14639,1.146387935
920.383,1.14725,1.179721268
920.458,1.14969,1.149693131
920.483,1.15472,1.249693131
920.725,1.18685,1.843992352
920.725,1.18685,1.843992352
920.725,1.18685,1.843992352
920.725,1.18685,1.843992352
920.75,1.18685,1.743992352
920.792,1.18895,1.710659019
920.833,1.18895,1.543992352
920.9,1.18905,1.477325686
920.95,1.18131,1.677325686
921,1.18131,1.477325686
921.033,1.16563,1.477325686
921.083,1.14715,1.477325686
921.142,1.13392,1.443992352
921.183,1.13392,1.277325686
921.242,1.12269,1.177325686
921.283,1.10967,1.210659019
921.35,1.10682,1.106819153
921.392,1.10315,1.206819153
921.433,1.10315,1.103153229
921.492,1.11056,1.110555768
921.533,1.11854,1.143889101
921.6,1.12966,1.129662752
921.633,1.13976,1.196329419
921.683,1.13976,1.139764309
921.75,1.15592,1.155915976
921.8,1.16243,1.162429333
921.842,1.17542,1.262429333
921.883,1.17542,1.175417185
922.15,1.20142,1.860057354
922.15,1.20142,1.860057354
922.15,1.20142,1.860057354
922.15,1.20142,1.860057354
922.15,1.20142,1.860057354
922.183,1.20142,1.726724021
922.242,1.18437,1.693390687
922.283,1.18452,1.726724021
922.35,1.17475,1.593390687
922.392,1.15672,1.626724021
922.433,1.15672,1.460057354
922.492,1.13313,1.493390687
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.908,1.04624,1.708528757
922.95,1.04624,1.54186209
922.992,1.15146,1.508528757
923.042,1.14714,1.508528757
923.083,1.14714,1.34186209
923.142,1.1426,1.24186209
923.183,1.13592,1.275195424
923.25,1.13335,1.14186209
923.292,1.12999,1.233345842
923.333,1.12999,1.12998867
923.392,1.13269,1.132686973
923.433,1.13679,1.166020306
923.5,1.14405,1.14404583
923.542,1.1525,1.24404583
923.583,1.1525,1.152501941
923.642,1.15979,1.1597929
923.683,1.16845,1.193126233
923.742,1.17864,1.301785
923.783,1.17864,1.178640008
924.025,1.19896,1.858142853
924.025,1.19896,1.858142853
924.025,1.19896,1.858142853
924.025,1.19896,1.858142853
924.083,1.19017,1.847372293
924.083,1.19017,1.847372293
924.308,1.17786,1.84120512
924.308,1.17786,1.84120512
924.308,1.17786,1.84120512
924.308,1.17786,1.84120512
924.342,1.17786,1.707871787
924.383,1.1385,1.74120512
924.433,1.1385,1.54120512
924.492,1.10944,1.507871787
924.55,1.09372,1.474538453
924.592,1.06504,1.64120512
924.642,1.06504,1.44120512
924.692,1.03808,1.64120512
924.75,1.04732,1.705028415
924.783,1.04732,1.571695081
924.842,1.03965,1.597677255
924.883,1.03322,1.631010588
924.95,1.02455,1.564343921
924.983,1.02455,1.431010588
925.033,1.01788,1.431010588
925.092,1.0088,1.397677255
925.133,1.00315,1.364343921
925.208,0.992884,1.331010588
925.25,0.992884,1.164343921
925.283,0.992099,1.164343921
925.35,0.988781,1.031010588
925.392,0.986761,1.088780856
925.433,0.986761,0.9867610335
925.492,0.990047,0.9900470972
925.533,0.99621,1.023380431
925.608,1.00486,1.056713764
925.65,1.02118,1.223380431
925.783,1.04503,1.705366731
925.783,1.04503,1.705366731
925.783,1.04503,1.705366731
925.842,1.03825,1.605366731
926.058,1.03175,1.69858098
926.058,1.03175,1.69858098
926.058,1.03175,1.69858098
926.058,1.03175,1.69858098
926.083,1.03175,1.59858098
926.15,0.992196,1.653420687
926.192,0.992196,1.48675402
926.233,0.974276,1.520087353
926.283,0.952963,1.520087353
926.342,0.938501,1.420087353
926.383,0.938501,1.253420687
926.45,0.91855,1.18675402
926.492,0.9109,1.153420687
926.533,0.89969,1.120087353
926.592,0.897556,1.020087353
926.633,0.897556,0.8975563645
926.683,0.896561,0.8975563645
926.75,0.905013,0.9050130248
926.792,0.917357,0.9716796915
926.833,0.917357,0.9173572063
926.892,0.929807,0.9298070073
926.942,0.947579,0.9475792646
926.983,0.963741,1.047579265
927.042,0.971653,1.030407373
927.083,0.971653,0.9716531634
927.142,0.979423,0.9794230461
927.183,0.98925,1.012756379
927.242,0.991709,1.022583397
927.292,0.997531,1.091708636
927.333,0.997531,0.9975307584
927.392,0.999224,0.9992240667
927.442,0.998319,0.9992240667
927.483,1.00037,1.098318851
927.7,1.0116,1.67242527
927.7,1.0116,1.67242527
927.7,1.0116,1.67242527
927.7,1.0116,1.67242527
927.733,1.0116,1.539091937
927.783,1.01057,1.539091937
927.858,1.01527,1.439091937
927.9,1.00731,1.605758603
927.933,1.00731,1.47242527
928,0.994245,1.539091937
928.067,0.974629,1.634512544
928.092,0.974629,1.534512544
928.133,0.960591,1.567845877
928.183,0.960591,1.367845877
928.233,0.94012,1.367845877
928.283,0.922067,1.367845877
928.342,0.916162,1.40117921
928.408,0.909051,1.567139268
928.433,0.909051,1.467139268
928.517,0.9058,1.564810753
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
928.933,0.874177,1.544022083
929,0.873305,1.532909513
929.208,0.838599,1.503320575
929.208,0.838599,1.503320575
929.208,0.838599,1.503320575
929.208,0.838599,1.503320575
929.25,0.838599,1.336653908
929.292,0.839247,1.499496818
929.35,0.836871,1.466163484
929.383,0.836871,1.332830151
929.433,0.825962,1.486202359
929.492,0.824753,1.452869026
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.008,0.784341,1.461904049
930.05,0.784341,1.295237382
930.083,0.789857,1.428570716
930.133,0.789857,1.228570716
930.183,0.782694,1.161904049
930.242,0.774469,1.128570716
930.283,0.769832,1.161904049
930.35,0.76777,1.028570716
930.392,0.765892,0.9952373823
930.433,0.765892,0.8285707156
930.5,0.766423,0.766422689
930.542,0.772537,0.7997560223
930.583,0.780498,0.8392041365
930.642,0.792311,0.8471643368
930.692,0.792311,0.7923113704
930.733,0.814468,0.8256447037
930.8,0.826376,0.8263761401
930.842,0.846577,0.9263761401
930.883,0.846577,0.8465769887
930.942,0.858236,0.8582360148
930.992,0.875752,0.875752151
931.233,0.939359,1.601474643
931.233,0.939359,1.601474643
931.233,0.939359,1.601474643
931.233,0.939359,1.601474643
931.233,0.939359,1.601474643
931.283,0.939359,1.401474643
931.483,0.908113,1.570723891
931.483,0.908113,1.570723891
931.483,0.908113,1.570723891
931.483,0.908113,1.570723891
931.533,0.908113,1.370723891
931.6,0.873147,1.304057225
931.642,0.85469,1.337390558
931.7,0.833584,1.304057225
931.742,0.833584,1.137390558
931.783,0.820001,1.170723891
931.85,0.813756,1.037390558
931.892,0.805468,1.070723891
931.933,0.805468,0.9040572246
931.992,0.807607,0.8076066971
932.033,0.810314,0.8409400304
932.1,0.819508,0.8195082545
932.142,0.83379,0.9195082545
932.183,0.83379,0.8337896466
932.25,0.849585,0.8495854139
932.292,0.869541,0.8695414662
932.342,0.892418,1.0028748
932.383,0.892418,0.8924179673
932.583,0.953584,1.611342072
932.583,0.953584,1.611342072
932.583,0.953584,1.611342072
932.583,0.953584,1.611342072
932.633,0.953584,1.411342072
932.683,0.945292,1.411342072
932.742,0.93882,1.378008739
932.783,0.925271,1.344675406
932.85,0.90925,1.278008739
932.892,0.90925,1.111342072
932.933,0.895006,1.078008739
933.008,0.878548,0.9780087392
933.042,0.868576,1.111342072
933.083,0.868576,0.9446754058
933.15,0.860031,1.211342072
933.2,0.860031,1.011342072
933.242,0.875536,1.044675406
933.292,0.881954,1.044675406
933.367,0.890698,1.144675406
933.392,0.890698,1.044675406
933.433,0.903118,1.078008739
933.5,0.911293,1.011342072
933.542,0.911293,0.9112927318
933.583,0.91842,0.9446260651
933.65,0.924697,0.9246966839
933.7,0.936956,1.024696684
933.742,0.936956,0.9369561076
933.792,0.946173,0.9461731315
933.833,0.955655,1.046173131
933.883,0.955655,0.9556545615
933.95,0.964233,0.9642330408
933.992,0.971136,0.9711360335
934.033,0.978411,1.071136034
934.1,0.986467,1.078410602
934.142,0.986467,0.986466825
934.183,0.99329,1.019800158
934.25,0.997365,0.9973651171
934.3,1.00522,1.097365117
934.342,1.00522,1.005219698
934.4,1.01279,1.038553031
934.442,1.01882,1.112786627
934.65,1.04088,1.692335844
934.65,1.04088,1.692335844
934.65,1.04088,1.692335844
934.65,1.04088,1.692335844
934.683,1.04088,1.559002511
934.733,1.04292,1.559002511
934.8,1.04889,1.492335844
934.858,1.04183,1.592335844
934.908,1.04183,1.392335844
934.942,1.02607,1.525669177
934.992,1.02607,1.325669177
935.042,1.00847,1.325669177
935.092,0.990662,1.325669177
935.15,0.984639,1.425669177
935.183,0.984639,1.292335844
935.25,0.982047,1.225669177
935.292,0.976836,1.259002511
935.342,0.97494,1.259002511
935.383,0.97494,1.092335844
935.433,0.975339,1.092335844
935.5,0.978172,1.025669177
935.542,0.983312,1.078172004
935.592,0.983312,0.9833116531
935.633,0.991094,0.9910936952
935.7,1.00119,1.001189947
935.742,1.01343,1.101189947
935.783,1.01343,1.013426423
935.833,1.02688,1.026881099
935.892,1.03854,1.060214432
935.933,1.04533,1.105210368
936,1.05422,1.145332551
936.042,1.05422,1.054222584
936.083,1.0616,1.087555917
936.517,1.0966,1.739777327
936.517,1.0966,1.739777327
936.517,1.0966,1.739777327
936.517,1.0966,1.739777327
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958.85,1.08661,1.253610651
958.892,1.08661,1.086943984
958.942,1.09735,1.097347856
958.983,1.10599,1.197347856
959.042,1.1156,1.172660653
959.092,1.1156,1.11559701
959.133,1.1258,1.125804305
959.2,1.13593,1.135929465
959.242,1.14573,1.235929465
959.283,1.14573,1.145734072
959.342,1.15276,1.152759433
959.392,1.15594,1.155937552
959.433,1.16024,1.255937552
959.492,1.16118,1.226910416
959.533,1.16118,1.161175251
959.6,1.16178,1.161777854
959.642,1.16332,1.195111187
959.683,1.16405,1.229989711
959.733,1.16405,1.164049387
959.792,1.16375,1.163751125
959.842,1.16494,1.164943576
959.883,1.16792,1.264943576
959.942,1.17038,1.234582369
960,1.17186,1.303714641
960.042,1.17186,1.171856403
960.258,1.18217,1.831209779
960.258,1.18217,1.831209779
960.258,1.18217,1.831209779
960.258,1.18217,1.831209779
960.3,1.18217,1.664543112
960.342,1.20035,1.697876445
960.383,1.19812,1.664543112
960.45,1.18729,1.597876445
960.492,1.18729,1.431209779
960.533,1.17434,1.397876445
960.617,1.15623,1.264543112
960.642,1.14147,1.364543112
960.683,1.14147,1.197876445
960.75,1.13025,1.131209779
960.792,1.12337,1.164543112
960.833,1.12393,1.190034453
960.9,1.12413,1.223932004
960.942,1.12413,1.124133348
960.983,1.13253,1.157466682
961.033,1.14232,1.232530212
961.092,1.15134,1.208985631
961.142,1.15134,1.151342511
961.183,1.16074,1.160738945
961.25,1.16957,1.169571519
961.292,1.17794,1.236238186
961.333,1.17794,1.177944183
961.4,1.18263,1.182626605
961.442,1.18576,1.185763836
961.483,1.18805,1.252430503
961.55,1.18915,1.288051224
961.592,1.18915,1.189149261
961.633,1.19076,1.222482594
961.7,1.19101,1.191011667
961.75,1.19029,1.291011667
961.792,1.19029,1.190289855
961.833,1.19187,1.223623188
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
962.592,1.22546,1.85846734
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