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clocksync: Implement a floor on the prediction filter 

Don't discard samples that are less than 500us from the prediction
regardless of the prediction variance.  Also, don't use the prediction
variance in the external time estimate.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-01 21:03:37 -04:00
parent eaeb831107
commit c2e1c53356
1 changed files with 4 additions and 3 deletions
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7
klippy/clocksync.py
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@ -77,11 +77,12 @@ class ClockSync:
self.min_rtt_time = sent_time self.min_rtt_time = sent_time
logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d", logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d",
sent_time, half_rtt, self.clock_est[2]) sent_time, half_rtt, self.clock_est[2])
# Compare clock to predicted clock and track prediction accuracy # Filter out samples that are extreme outliers
exp_clock = ((sent_time - self.time_avg) * self.clock_est[2] exp_clock = ((sent_time - self.time_avg) * self.clock_est[2]
+ self.clock_avg) + self.clock_avg)
clock_diff2 = (clock - exp_clock)**2 clock_diff2 = (clock - exp_clock)**2
if clock_diff2 > 25. * self.prediction_variance: if (clock_diff2 > 25. * self.prediction_variance
and clock_diff2 > (.000500 * self.mcu_freq)**2):
if clock > exp_clock and sent_time < self.last_prediction_time + 10.: if clock > exp_clock and sent_time < self.last_prediction_time + 10.:
logging.debug("Ignoring clock sample %.3f:" logging.debug("Ignoring clock sample %.3f:"
" freq=%d diff=%d stddev=%.3f", " freq=%d diff=%d stddev=%.3f",
@ -112,7 +113,7 @@ class ClockSync:
self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA, self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
int(self.clock_avg - 3. * pred_stddev)) int(self.clock_avg - 3. * pred_stddev))
self.clock_est = (self.time_avg - self.min_half_rtt, self.clock_est = (self.time_avg - self.min_half_rtt,
self.clock_avg + 3. * pred_stddev, new_freq) self.clock_avg, new_freq)
#logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)", #logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",
# sent_time, new_freq, clock - exp_clock, pred_stddev) # sent_time, new_freq, clock - exp_clock, pred_stddev)
# clock frequency conversions # clock frequency conversions