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gyro_fft: require higher SNR for initially tracking a peak

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- initial frequency peak tracking SNR increased from 10->15 db
 - after initial detection the threshold decreases to SNR 5db
 - gyro_fft large method refactored into smaller pieces
 - sensors/vehicle_angular_velocity: dynamic notch FFT make sample rate
check a percentage and relax lower bound safety threshold
This commit is contained in:
Daniel Agar
2021-10-04 10:17:16 -04:00
parent 6d78054f50
commit cc4152e10d
5 changed files with 248 additions and 203 deletions
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posix-configs/SITL/init/test/test_imu_filtering
+1
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@@ -49,6 +49,7 @@ logger off
sensors status
listener sensor_gyro
listener sensor_gyro_fifo
listener sensor_gyro_fft
perf
echo "ALL TESTS PASSED"