From 0bf9ccdcc94363ac46c0169baec69a74e64c55be Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 18 Jul 2023 12:25:37 +0200 Subject: [PATCH] sys-id: implement linear and log sine sweeps --- .../signal_generator.hpp | 66 +++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100644 src/lib/system_identification/signal_generator.hpp diff --git a/src/lib/system_identification/signal_generator.hpp b/src/lib/system_identification/signal_generator.hpp new file mode 100644 index 0000000000..c660fa0a7c --- /dev/null +++ b/src/lib/system_identification/signal_generator.hpp @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file signal_generator.hpp + */ + +#pragma once + +namespace signal_generator +{ + +float getLinearSineSweep(float f_start, float f_end, float duration, float t) +{ + if (t > duration) { + return 0.f; + } + + const float w_start = f_start * M_TWOPI_F; + const float w_end = f_end * M_TWOPI_F; + + return sinf(w_start * t + 0.5f * (w_end - w_start) * t * t / duration); +} + +float getLogSineSweep(float f_start, float f_end, float duration, float t) +{ + if (t > duration) { + return 0.f; + } + + const float f_ratio = f_end / fmaxf(f_start, 0.1f); + + return sinf(M_TWOPI_F * f_start * duration * (powf(f_ratio, t / duration) - 1.f) / logf(f_ratio)); +} + +} /* namespace signal_generator */