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AP_GyroFFT: adjust default FFT lengths for boards that can cope and are likely to have BMI088

This commit is contained in:
Andy Piper 2020-02-23 15:00:16 +00:00 committed by Andrew Tridgell
parent ee18db36fa
commit 3b25a8ae2e
1 changed files with 14 additions and 1 deletions
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15
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -25,7 +25,14 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#ifndef FFT_DEFAULT_WINDOW_SIZE
// the H7 can cope with a longer length and these boards generally have BMI088 which needs a longer length
#if defined(STM32H7)
#define FFT_DEFAULT_WINDOW_SIZE 64
#else
#define FFT_DEFAULT_WINDOW_SIZE 32 #define FFT_DEFAULT_WINDOW_SIZE 32
#endif
#endif
#define FFT_DEFAULT_WINDOW_OVERLAP 0.5f #define FFT_DEFAULT_WINDOW_OVERLAP 0.5f
#define FFT_THR_REF_DEFAULT 0.35f // the estimated throttle reference, 0 ~ 1 #define FFT_THR_REF_DEFAULT 0.35f // the estimated throttle reference, 0 ~ 1
#define FFT_SNR_DEFAULT 25.0f // a higher SNR is safer and this works quite well on a Pixracer #define FFT_SNR_DEFAULT 25.0f // a higher SNR is safer and this works quite well on a Pixracer
@ -444,6 +451,12 @@ bool AP_GyroFFT::calibration_check()
return false; return false;
} }
// check for sane frequency resolution - for 1k backends with length 32 this will be 32Hz
if (_state->_bin_resolution > 50.0f) {
gcs().send_text(MAV_SEVERITY_WARNING, "FFT: resolution is %.1fHz, increase length", _state->_bin_resolution);
return true; // a low resolution is not fatal
}
// larger windows make the the self-test run too long, triggering the watchdog // larger windows make the the self-test run too long, triggering the watchdog
if (AP_Logger::get_singleton()->log_while_disarmed() if (AP_Logger::get_singleton()->log_while_disarmed()
|| _window_size > FFT_DEFAULT_WINDOW_SIZE * 2) { || _window_size > FFT_DEFAULT_WINDOW_SIZE * 2) {
@ -683,7 +696,7 @@ void AP_GyroFFT::update_ref_energy(uint16_t max_bin)
float AP_GyroFFT::self_test_bin_frequencies() float AP_GyroFFT::self_test_bin_frequencies()
{ {
if (_state->_window_size * sizeof(float) > hal.util->available_memory() / 2) { if (_state->_window_size * sizeof(float) > hal.util->available_memory() / 2) {
gcs().send_text(MAV_SEVERITY_WARNING, "AP_GyroFFT: unable to run self-test, required %u bytes", (unsigned int)(_state->_window_size * sizeof(float))); gcs().send_text(MAV_SEVERITY_WARNING, "FFT: unable to run self-test, required %u bytes", (unsigned int)(_state->_window_size * sizeof(float)));
return 0.0f; return 0.0f;
} }