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experimental/gyro_fft: improve peak detection, add start parameter

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- add new parameter `IMU_GYRO_FFT_EN` to start
 - add 75% overlap in buffer to increase FFT update rate
 - space out FFT calls (no more than 1 per cycle)
 - increase `IMU_GYRO_FFT_MIN` default
 - decrease main stack usage
This commit is contained in:
Daniel Agar
2020-10-25 23:48:21 -04:00
committed by GitHub
parent 945c17bc3f
commit 614a0ac2a2
6 changed files with 135 additions and 112 deletions
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msg/sensor_gyro_fft.msg
+3 -8
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@@ -7,11 +7,6 @@ float32 dt # delta time between samples (microseconds)
float32 resolution_hz
uint8[3] peak_index_0
uint8[3] peak_index_1
float32[3] peak_frequency_0 # largest frequency peak found per sensor axis (0 if none)
float32[3] peak_frequency_1 # second largest frequency peak found per sensor axis (0 if none)
uint8[3] peak_index_quinns
float32[3] peak_frequency_quinns
float32[2] peak_frequency_x # x axis peak frequencies
float32[2] peak_frequency_y # y axis peak frequencies
float32[2] peak_frequency_z # z axis peak frequencies