gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging

- add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX)
 - remove full FFT debug logging
 - fix Quinn's second estimator
 - log sensor_gyro_fft
 - fake_gyro use PX4Gyroscope

msg/CMakeLists.txt

@@ -120,7 +120,6 @@ set(msg_files
 	sensor_gps.msg
 	sensor_gyro.msg
 	sensor_gyro_fft.msg
-	sensor_gyro_fft_axis.msg
 	sensor_gyro_fifo.msg
 	sensor_mag.msg
 	sensor_preflight_mag.msg

msg/sensor_gyro_fft.msg

@@ -4,12 +4,14 @@ uint64 timestamp_sample
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
 float32 dt                # delta time between samples (microseconds)
-float32 scale
 
-uint8 samples             # number of valid samples
+float32 resolution_hz
 
-uint8 peak_index
+uint8[3] peak_index_0
+uint8[3] peak_index_1
 
-float32 peak_frequency_0
-float32 peak_frequency_1
-float32 peak_frequency_2
+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

msg/sensor_gyro_fft_axis.msg

@@ -1,23 +0,0 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
-
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
-
-float32 dt                # delta time between samples (microseconds)
-
-uint16 samples             # number of valid samples
-
-float32 resolution_hz
-
-int16[128] fft
-
-uint16 peak_index
-uint16 peak_index_quinns
-
-float32 peak_frequency
-float32 peak_frequency_quinns
-
-uint8 AXIS_X = 0
-uint8 AXIS_Y = 1
-uint8 AXIS_Z = 2
-uint8 axis

msg/tools/uorb_rtps_message_ids.yaml

@@ -287,8 +287,6 @@ rtps:
     id: 136
   - msg: sensor_gyro_fft
     id: 137
-  - msg: sensor_gyro_fft_axis
-    id: 138
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150