ardupilot/libraries/AP_HAL/examples/DSP_test/GyroFrame.cpp

#include "GyroFrame.h"
const uint32_t NUM_FRAMES = 53;
const GyroFrame gyro_frames[] = {
    {
        { 162, -95, -215, -102, 120, 273, 180, -132, -322, -173, 102, 213, 146, 18, -116, -210, -139, 86, 238, 152, -65, -169, -91, -2, -14, -14, 89, 170, 64, -134, -176, -21, 90, 16, -73, 22, 192, 167, -74, -304, -309, -54, 283, 417, 214, -145, -334, -226, 3, 137, 134, 55, -46, -61, 61, 157, 32, -225, -289, -10, 320, 336, 50, -278, -428, -283, 101, 421, 405, 92, -228, -270, -51, 100, 36, -74, -80, 4, 124, 200, 64, -237, -328, -20, 343, 348, 11, -319, -364, -127, 176, 308, 163, -95, -200, -69, 94, 111, 13, -98, -122, 11, 211, 253, -2, -301, -270, 4, 183, 172, 68, -87, -216, -154, 71, 172, 4, -139, 23, 256, 207, -110, -366, -298, 49, 404, 423, 24, -384, -336, 50, 270, 120, -135, -200, -36, 171, 198, -21, -268, -217, 114, 330, 186, -136, -289, -145, 117, 238, 101, -155, -229, 2, 247, 166, -130, -287, -157, 121, 323, 239, -98, -350, -201, 180, 335, 108, -210, -266, -16, 266, 275, -24, -314, -241, 104, 269, 61, -247, -319, -100, 206, 334, 192, -77, -204, -72, 131, 128, -89, -237, -66, 274, 342, 25, -263, -222, 17, 168, 65, -173, -288, -123, 198, 302, 25, -254, -185, 121, 298, 159, -146, -305, -129, 237, 380, 109, -230, -259, -14, 175, 89, -164, -267, -70, 197, 224, 3, -177, -120, 67, 140, 25, -112, -94, 51, 130, 30, -130, -112, 124, 296, 148, -184, -345, -161, 153, 250, 55, -181, -192, 39, 232, 113, -198, -300, -22, 315, 322, 21, -242, -239, -10, 197, 179, -11, -167, -161, -61, 34, 114, 124, 57, 25, 18, -63, -160, -137, -39, 54, 172, 267, 169, -112, -294, -202, 27, 165, 113, -46, -142, -101, 29, 139, 134, 36, -91, -171, -104, 68, 156, 52, -126, -131, 91, 299, 227, -80, -310, -273, -55, 159, 218, 90, -85, -133, -36, 33, -38, -99, -2, 154, 184, 12, -177, -145, 25, 114, 82, 28, -12, -58, -55, -9, 2, -6, 11, 12, -59, -112, -13, 126, 116, -4, -56, 2, 46, -15, -119, -137, 6, 215, 248, 40, -180, -170, 10, 93, -5, -119, -90, 34, 104, 40, -52, -54, 50, 124, 48, -102, -131, 6, 114, 16, -104, -54, 89, 147, 56, -76, -122, -72, -2, 22, 2, -2, 41, 127, 136, -18, -184, -141, 67, 157, 9, -134, -71, 77, 114, 39, -22, -28, -58, -141, -156, -15, 157, 147, -1, -56, 45, 129, 58, -73, -86, 0, 31, -31, -51, 56, 131, 51, -73, -146, -169, -119, 9, 134, 133, 6, -114, -111, 38, 198, 175, -47, -208, -103, 113, 173, 61, -52, -26, 67, 16, -179, -261, -69, 197, 231, 16, -179, -146, 54, 174, 71, -124, -177, -43, 153, 253, 155, -68, -176, -55, 102, 84, -65, -152, -86, 39, 70, -20, -96, 31, 224, 148, -187, -378, -157, 199, 270, 57, -156, -107, 169, 317, 108, -270, -400, -130, 219, 307, 122, -132, -220, -70, 158, 219, 5, -258, -263, -10, 207, 177, -22, -132, -50, 71, 66, -31, -35, 80, 77, -72, -99, 93, 235, 100, -141, -223, -118, 18, 83, 78, 14, -60, -40, 33, 14, -66, -59, 36, 84, 14, -91, -92, 34, 175, 179, 37, -115, -170, -98, 31, 101, 35, -78, -69, 47, 81, -1, -104, -136, -62, 53, 101, 46, -7, 33, 97, 52, -54, -86, -22, 44, 50, 7, -26, 1, 61, 29, -82, -101, 11, 75, 4, -83, -113, -111, -46, 103, 213, 169, 45, -70, -129, -87, 32, 103, 9, -121, -70, 82, 131, 58, 0, 5, -27, -135, -212, -143, 103, 313, 212, -130, -334, -164, 157, 295, 163, -98, -244, -137, 114, 275, 196, -35, -187, -141, -9, 34, -19, -27, 54, 81, -28, -135, -96, 27, 86, 46, -16, -18, 32, 45, 20, 30, 63, 32, -45, -59, -4, 32, 37, 32, -18, -111, -164, -113, 21, 112, 70, -25, -68, -33, 17, 29, 41, 106, 173, 112, -111, -270, -134, 182, 356, 181, -199, -394, -195, 146, 207, -68, -312, -197, 171, 350, 114, -234, -256, 69, 332, 214, -118, -247, -9, 310, 292, -92, -428, -334, 109, 422, 251, -193, -422, -229, 119, 242, 86, -137, -200, -34, 187, 224, 72, -92, -87, 56, 126, 21, -148, -146, 64, 176, 46, -95, -54, 38, -29, -175, -145, 73, 255, 182, -115, -328, -211, 158, 417, 272, -124, -378, -259, 114, 366, 270, -42, -288, -260, -25, 190, 200, 0, -165, -115, 11, 56, 23, -7, -54, -137, -126, 63, 259, 229, -14, -193, -132, 25, 85, 9, -48, 47, 178, 104, -121, -213, -77, 83, 108, 1, -163, -245, -123, 98, 184, 104, 30, 21, -18, -78, -49, 70, 160, 128, -21, -168, -138, 94, 280, 167, -160, -391, -312, 27, 305, 219, -116, -289, -117, 152, 204, 53, -71, -8, 118, 69, -101, -65, 196, 277, -17, -339, -311, 9, 247, 15
        { 135, -119, -287, -285, -149, 36, 190, 245, 163, 13, -111, -162, -132, -49, 57, 147, 121, -38, -189, -209, -94, 101, 251, 235, 73, -99, -199, -220, -141, 41, 220, 229, 78, -75, -145, -138, -78, 22, 132, 198, 145, -2, -116, -137, -112, -70, 8, 111, 165, 113, -6, -94, -107, -72, -9, 60, 97, 67, -21, -112, -138, -88, -8, 80, 162, 167, 57, -103, -202, -181, -47, 119, 210, 162, 23, -85, -112, -92, -52, 3, 59, 82, 54, -9, -77, -121, -147, -144, -72, 30, 67, 15, -29, -5, 42, 50, 19, -11, -23, -11, -11, -49, -77, -29, 77, 124, 54, -42, -71, -46, -33, -37, -9, 46, 67, 27, -19, -33, -25, -12, 16, 70, 98, 33, -83, -131, -72, 14, 41, 3, -22, -9, 17, 33, 25, 3, -11, -23, -35, -34, -7, 41, 70, 43, -2, -17, -2, 11, 0, -26, -27, 2, 32, 37, 23, -2, -20, -16, -4, -8, -17, -11, 0, -4, -3, 14, 29, 23, 6, -4, -12, -19, -10, 1, 0, 33, 113, 163, 92, -77, -200, -162, -26, 65, 69, 43, 47, 71, 44, -59, -156, -144, -39, 67, 95, 31, -39, -25, 53, 74, -14, -90, -45, 51, 69, 5, -52, -30, 52, 110, 78, -27, -120, -117, -41, 11, 1, -16, 16, 64, 64, 22, -32, -59, -20, 46, 51, -2, -27, 23, 66, 21, -69, -109, -60, 29, 84, 69, 6, -23, 18, 52, -3, -100, -127, -39, 93, 151, 85, -29, -90, -84, -53, -9, 41, 84, 71, 1, -50, -43, -16, -23, -58, -53, 18, 84, 83, 41, 14, 8, 7, -8, -47, -49, 30, 109, 71, -76, -183, -143, -13, 90, 114, 83, 23, -48, -93, -62, 39, 121, 85, -37, -104, -39, 70, 99, 43, -27, -82, -84, -16, 46, 31, -24, -63, -63, -16, 48, 47, -22, -55, -13, 21, 13, 13, 39, 52, 40, 38, 35, -7, -80, -112, -64, 24, 71, 39, -31, -64, -41, -3, 30, 58, 55, 30, 17, 7, -23, -51, -47, -29, -15, 2, 22, 30, 21, 8, 1, -1, -7, -30, -58, -57, -13, 45, 74, 80, 89, 75, 5, -95, -149, -132, -60, 42, 123, 143, 121, 56, -71, -195, -203, -112, 13, 126, 185, 166, 113, 68, 14, -69, -136, -144, -136, -112, -25, 103, 173, 166, 116, 16, -131, -236, -234, -141, 3, 148, 224, 247, 245, 166, -4, -184, -273, -268, -193, -50, 147, 307, 338, 230, 26, -188, -329, -355, -271, -99, 119, 281, 282, 182, 87, 8, -82, -160, -197, -180, -80, 93, 229, 245, 155, -3, -157, -220, -211, -167, -66, 87, 188, 195, 161, 101, 7, -91, -155, -169, -130, -25, 117, 219, 229, 140, -8, -147, -217, -231, -208, -119, 47, 209, 286, 275, 161, -43, -230, -297, -255, -134, 42, 198, 228, 161, 67, -57, -157, -156, -116, -83, -11, 125, 230, 229, 145, -10, -163, -160, -46, -4, -65, -88, 15, 144, 186, 128, -10, -147, -180, -135, -86, -32, 60, 129, 124, 86, 51, -18, -119, -146, -58, 65, 120, 104, 80, 55, -17, -124, -166, -95, -11, -3, -33, -6, 62, 80, 55, 41, 38, 11, -41, -80, -62, 10, 84, 128, 120, 30, -110, -181, -127, -38, 19, 32, 0, -38, -23, 25, 39, 7, -5, 32, 76, 64, -2, -48, -5, 74, 91, 22, -75, -129, -116, -61, 0, 46, 65, 57, 28, -26, -84, -79, 3, 77, 58, -14, -23, 55, 125, 120, 33, -101, -181, -141, -34, 60, 90, 64, 20, -9, -18, -14, -14, -22, -38, -63, -37, 83, 196, 204, 129, -7, -200, -326, -262, -69, 120, 209, 167, 70, 9, -14, -45, -104, -141, -103, -6, 97, 153, 147, 111, 52, -40, -158, -216, -161, -36, 91, 142, 111, 64, 50, 38, -22, -106, -116, -48, -4, -32, -54, 13, 131, 179, 85, -101, -217, -173, -43, 61, 100, 119, 147, 144, 61, -87, -211, -217, -117, 27, 143, 148, 84, 64, 81, 11, -177, -311, -260, -110, 9, 55, 74, 127, 191, 190, 79, -81, -163, -131, -58, 8, 64, 99, 117, 113, 35, -122, -225, -169, -10, 123, 123, -8, -110, -48, 80, 99, 11, -27, 46, 119, 93, -4, -96, -93, 11, 82, 25, -70, -85, -27, 17, 23, 37, 38, -18, -88, -113, -77, 14, 125, 175, 101, -44, -126, -56, 103, 178, 42, -196, -280, -127, 104, 201, 133, 17, -72, -100, -60, -6, 17, 25, 11, -30, -58, -25, 49, 96, 78, 14, -23, -8, 15, -1, -54, -68, -7, 64, 79, 9, -94, -125, -46, 48, 36, -38, -14, 105, 154, 47, -126, -201, -120, 28, 147, 173, 103, 4, -42, -32, -26, -50, -62, -38, -25, -43, -19, 73, 142, 77, -106, -205, -78, 112, 146, 32, -68, -46, 55, 108, 64, -16, -54, -22, 44, 74, 14, -82, -91, -4, 29, -64, -144, -76, 70, 132, 53, -50, -43, 60, 125, 73, -21, -32, 37, 59, -27, -110, -56, 91, 162, 57, -121, -190, -97, 32, 60, -7, -57, -27, 31, 44, 35, 62, 106, 101, 6, -122, -161, -60, 81, 113, 14, -75, -57, 5, -1, -66, -74, 5, 69, 44, -9, 10, 8
        { 40, -41, -101, -128, -118, -71, 14, 109, 129, 44, -66, -117, -97, -39, 28, 81, 82, 19, -58, -91, -58, 14, 67, 65, 35, -2, -44, -61, -28, 25, 57, 47, 13, -4, 0, -11, -45, -58, -11, 81, 153, 116, -21, -142, -140, -32, 84, 127, 92, 43, 22, 29, 42, 23, -38, -84, -41, 79, 166, 126, -9, -128, -163, -100, 38, 156, 157, 35, -108, -155, -75, 45, 114, 119, 79, 11, -50, -73, -59, -27, 22, 80, 86, 13, -61, -58, 14, 79, 53, -65, -178, -179, -47, 119, 182, 85, -86, -197, -174, -32, 116, 150, 51, -83, -132, -82, -20, 7, 25, 35, 34, 25, -2, -67, -135, -133, -43, 52, 74, 32, -12, -17, 10, 22, -22, -95, -113, -29, 81, 98, 8, -82, -78, 12, 108, 111, 17, -74, -78, -19, 25, 34, 46, 74, 92, 69, -1, -80, -98, -27, 69, 91, 24, -37, -14, 59, 96, 53, -39, -104, -72, 37, 123, 108, 26, -16, 22, 88, 102, 33, -60, -92, -29, 59, 73, 12, -19, 31, 96, 60, -92, -230, -204, -18, 186, 254, 136, -54, -153, -116, -27, 12, -2, 16, 85, 103, 19, -95, -139, -66, 59, 111, 22, -132, -189, -86, 59, 111, 43, -58, -96, -39, 33, 19, -77, -124, -39, 90, 125, 31, -102, -164, -104, 11, 70, 49, 16, 16, 17, -20, -77, -96, -49, 31, 76, 33, -52, -89, -48, 2, 11, 8, 32, 59, 38, -45, -128, -111, 30, 190, 217, 75, -108, -175, -79, 83, 167, 117, 0, -72, -59, -13, 4, 0, 14, 61, 100, 61, -41, -109, -72, 45, 150, 160, 93, 37, 27, 11, -48, -101, -78, 24, 146, 205, 147, -10, -174, -218, -102, 80, 186, 147, 0, -133, -133, 0, 145, 184, 86, -85, -218, -205, -42, 135, 189, 103, -33, -121, -117, -53, -6, -3, -4, 22, 54, 40, -31, -105, -104, -24, 49, 30, -56, -112, -89, -23, 33, 49, 5, -72, -122, -109, -45, 48, 131, 144, 60, -59, -130, -122, -64, 7, 55, 59, 30, -12, -52, -75, -68, -41, -27, -35, -34, 3, 68, 113, 103, 44, -27, -69, -72, -44, 2, 59, 104, 114, 81, 28, -12, -45, -85, -119, -99, 1, 125, 188, 162, 83, 5, -45, -70, -70, -42, 7, 58, 87, 94, 85, 75, 70, 45, -38, -146, -178, -84, 69, 190, 227, 178, 65, -56, -137, -153, -97, -11, 30, 14, 11, 65, 112, 86, 0, -100, -175, -182, -102, 28, 148, 199, 154, 55, -45, -121, -152, -123, -61, -13, 4, 21, 52, 69, 32, -61, -163, -200, -138, -31, 41, 67, 86, 103, 82, 8, -81, -132, -120, -68, -22, 1, 36, 93, 118, 47, -107, -238, -236, -105, 46, 117, 93, 39, 30, 76, 93, 14, -119, -195, -141, 6, 141, 182, 131, 48, -24, -94, -139, -99, 12, 103, 94, 19, -12, 50, 144, 141, -9, -176, -177, 7, 196, 210, 70, -62, -69, 25, 96, 53, -59, -113, -34, 95, 146, 84, -13, -48, -5, 40, 29, -31, -66, -22, 51, 80, 69, 52, 13, -55, -96, -68, 0, 57, 65, 15, -43, -50, 5, 52, 24, -53, -97, -73, -14, 30, 25, -17, -56, -75, -82, -81, -56, 4, 78, 117, 70, -49, -147, -135, -40, 32, 29, -16, -43, -22, 16, 7, -50, -99, -94, -44, 5, 22, 6, -19, -21, 9, 50, 79, 77, 18, -80, -136, -82, 40, 132, 129, 30, -90, -124, -44, 60, 75, -20, -122, -105, 53, 228, 262, 125, -64, -167, -119, 14, 111, 117, 74, 41, 25, 21, 44, 75, 57, -38, -163, -209, -99, 126, 299, 271, 87, -88, -130, -35, 74, 72, -26, -89, -18, 135, 235, 194, 27, -163, -258, -211, -81, 59, 174, 200, 103, -35, -99, -76, -36, -34, -63, -69, -25, 39, 68, 61, 45, 15, -51, -136, -186, -162, -53, 96, 182, 131, 1, -87, -89, -73, -100, -151, -164, -85, 61, 158, 128, 33, -32, -83, -156, -201, -155, -17, 159, 249, 141, -84, -211, -136, 27, 96, 14, -109, -128, -21, 88, 94, 23, -22, -22, -43, -99, -117, -16, 184, 323, 237, -36, -253, -215, 9, 180, 149, -4, -85, 0, 147, 166, 16, -146, -173, -64, 78, 146, 119, 71, 63, 81, 63, 8, -16, -6, -6, -10, 19, 91, 149, 118, -13, -149, -156, -15, 132, 126, -34, -177, -123, 106, 294, 255, 12, -231, -283, -115, 120, 236, 160, -31, -185, -191, -68, 70, 118, 41, -94, -169, -109, 32, 118, 64, -64, -130, -79, 8, 47, 22, -25, -50, -57, -75, -87, -41, 53, 92, 3, -146, -224, -149, 27, 152, 113, -35, -141, -129, -48, 33, 70, 39, -38, -105, -104, -22, 93, 149, 65, -119, -230, -141, 85, 243, 180, -45, -220, -170, 47, 206, 158, -15, -125, -85, 27, 94, 83, 57, 51, 25, -27, -34, 48, 152, 162, 42, -97, -103, 47, 196, 178, 23, -91, -66, 27, 65, 26, -1, 52, 124, 104, -1, -70, -18, 101, 160, 94, -23, -72, -19, 61, 89, 64, 28, -18, -81, -120, -91, -3, 74, 76, 11, -40, -28, 3, -16, -70, -80, -27, 27, 38, 17, -1,
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    },
};
const uint16_t SAMPLE_RATE = 999;