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sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT

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Daniel Agar
2021-03-05 10:56:54 -05:00
parent ed6269b9a5
commit 00b3b3678b
7 changed files with 250 additions and 115 deletions
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msg/sensor_gyro_fft.msg
+4 -7
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@@ -3,12 +3,9 @@ uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 sensor_sample_rate_hz
float32 resolution_hz
float32[3] peak_frequency # peak frequency per axis
float32[4] peak_frequencies_x # x axis peak frequencies
float32[4] peak_frequencies_y # y axis peak frequencies
float32[4] peak_frequencies_z # z axis peak frequencies
float32[6] peak_frequencies_x # x axis peak frequencies
float32[6] peak_frequencies_y # y axis peak frequencies
float32[6] peak_frequencies_z # z axis peak frequencies