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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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16
posix-configs/SITL/init/test/test_imu_filtering
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@@ -13,15 +13,21 @@ tone_alarm start
ver all
param set IMU_GYRO_RATEMAX 2000
param set IMU_GYRO_RATEMAX 1000
param set IMU_GYRO_FFT_EN 1
param set IMU_GYRO_FFT_MIN 1
param set IMU_GYRO_FFT_MIN 10
param set IMU_GYRO_FFT_MAX 1000
param set IMU_GYRO_FFT_LEN 1024
# dynamic notches ESC/FFT/both
#param set IMU_GYRO_DYN_NF 1
#param set IMU_GYRO_DYN_NF 2
#param set IMU_GYRO_DYN_NF 3
# test values
param set IMU_GYRO_CUTOFF 40
param set IMU_DGYRO_CUTOFF 30
param set IMU_GYRO_CUTOFF 60
param set IMU_DGYRO_CUTOFF 40
#param set IMU_GYRO_NF_FREQ 60
#param set IMU_GYRO_NF_BW 5
@@ -42,9 +48,9 @@ sleep 10
logger off
sensors status
uorb top -a -1
listener sensor_gyro
listener sensor_gyro_fifo
perf
echo "ALL TESTS PASSED"