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gyro_fft: change default length 1024 -> 512 to decrease latency

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- change default FFT length (1024 -> 512)
      - this doubles the update rate because half the number of samples are required for each
 - decrease number of peaks (4 -> 3)
      - so far 3 seems to be sufficient on most vehicles
 - increase median filter window (3 -> 5)
 - decrease SNR requirement (likely needs to be configurable)
This commit is contained in:
Daniel Agar
2021-07-06 21:54:18 -04:00
committed by GitHub
parent f296a41737
commit 1b5e65df04
5 changed files with 17 additions and 16 deletions
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msg/sensor_gyro_fft.msg
+6 -6
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@@ -6,10 +6,10 @@ uint32 device_id # unique device ID for the sensor that does not change
float32 sensor_sample_rate_hz
float32 resolution_hz
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[3] peak_frequencies_x # x axis peak frequencies
float32[3] peak_frequencies_y # y axis peak frequencies
float32[3] peak_frequencies_z # z axis peak frequencies
float32[4] peak_snr_x # x axis peak SNR
float32[4] peak_snr_y # y axis peak SNR
float32[4] peak_snr_z # z axis peak SNR
float32[3] peak_snr_x # x axis peak SNR
float32[3] peak_snr_y # y axis peak SNR
float32[3] peak_snr_z # z axis peak SNR