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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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src/modules/gyro_fft/parameters.c
+2 -2
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@@ -49,7 +49,7 @@ PARAM_DEFINE_INT32(IMU_GYRO_FFT_EN, 0);
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 32.f);
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 30.f);
/**
* IMU gyro FFT maximum frequency.
@@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 32.f);
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 192.f);
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 150.f);
/**
* IMU gyro FFT length.