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gyro_fft: add simple SNR requirement and reduce number of peaks

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This commit is contained in:
Daniel Agar
2021-05-25 12:31:18 -04:00
parent 3269ee8df1
commit 2a792ca201
4 changed files with 102 additions and 55 deletions
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14
msg/sensor_gyro_fft.msg
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@@ -6,10 +6,12 @@ uint32 device_id # unique device ID for the sensor that does not change
float32 sensor_sample_rate_hz
float32 resolution_hz
float32[6] peak_frequencies_x # x axis peak frequencies
float32[6] peak_frequencies_y # y axis peak frequencies
float32[6] peak_frequencies_z # z axis peak frequencies
float32[4] peak_frequencies_x # x axis peak frequencies
float32[4] peak_frequencies_y # y axis peak frequencies
float32[4] peak_frequencies_z # z axis peak frequencies
uint32[6] peak_magnitude_x # x axis peak frequencies magnitude
uint32[6] peak_magnitude_y # y axis peak frequencies magnitude
uint32[6] peak_magnitude_z # z axis peak frequencies magnitude
float32[4] peak_magnitude_x # x axis peak frequencies magnitude
float32[4] peak_magnitude_y # y axis peak frequencies magnitude
float32[4] peak_magnitude_z # z axis peak frequencies magnitude
float32[3] total_energy