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

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- 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
This commit is contained in:
Daniel Agar
2020-10-12 15:19:39 -04:00
committed by GitHub
parent ff3008c051
commit f557fa46e8
11 changed files with 220 additions and 92 deletions
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msg/sensor_gyro_fft.msg
+8 -6
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@@ -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