- when estimating the peak frequency the magnitude of side buckets will
be factored in, so it doesn't make sense to potentially treat them as
separatey detected peaks
- 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
- move to high priority work queue (from low priority)
- schedule slightly more often to avoid missing messages
- perf counter include all FFT processing work
- lazily allocate gyro gap perf counters on initial sensor selection
- change default FFT length (1024 -> 512)
- this doubles the update rate because half the number of samples are required for each
- decrease number of peaks (4 -> 3)
- so far 3 seems to be sufficient on most vehicles
- increase median filter window (3 -> 5)
- decrease SNR requirement (likely needs to be configurable)
Daniel Agar