Daniel Agar
1b5e65df04
gyro_fft: change default length 1024 -> 512 to decrease latency
...
- 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)
2021-07-06 21:54:18 -04:00
Daniel Agar
a5ee28883a
gyro_fft: track FFT peaks and median filter frequency
2021-07-06 12:32:25 -04:00
David Sidrane
3b725e5525
gyro_fft:Use inttypes
2021-06-16 17:07:47 +02:00
Daniel Agar
2a792ca201
gyro_fft: add simple SNR requirement and reduce number of peaks
2021-05-31 10:26:45 -04:00
Daniel Agar
92910de81d
gyro_fft: silence initial sensor selection attempt
...
- early in startup the selected gyro may not be published yet
2021-03-24 18:58:18 -04:00
Daniel Agar
8000e6feba
gyro_fft: reduce default max
...
- we're mainly looking for lower frequencies that may be an issue for control
2021-03-18 10:04:04 +01:00
Daniel Agar
c7c6122bfd
gyro_fft: manually inline subset of arm_rfft_init_q15 to save flash
2021-03-18 10:04:04 +01:00
Daniel Agar
1429423876
gyro_fft: support sensor_gyro (non-fifo)
2021-03-18 10:04:04 +01:00
Daniel Agar
ed8f6aa8fe
gyro_fft: fix bucket_index size
...
- needed for larger FFT lengths (eg 1024, 2048, etc)
2021-03-16 00:49:45 -04:00
Daniel Agar
20d8de2dca
gyro_fft: reduce run frequency (still consuming all queued data)
2021-03-15 09:42:35 -04:00
Daniel Agar
af3573e464
gyro_fft: log peak frequency magnitudes
2021-03-15 09:42:08 +01:00
Daniel Agar
3665f9a3c4
gyro_fft: increase default range and length to improve test data
2021-03-14 20:17:41 -04:00
Daniel Agar
0079cb708c
gyro_fft: don't update FFT length while running
...
- this is used for the length of dynamically allocated buffers that
aren't resized while running
2021-03-11 21:53:59 -05:00
Daniel Agar
19de1e57e3
gyro_fft promote to modules and include on all boards
2021-03-05 10:56:54 -05:00
Daniel Agar