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AP_Vehicle: add FFT configuration and initialization

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add arming checks to validate FFT performance
allow gyros to be sampled at either the fastloop rate or gyro rate.
add gyro and parameter update loops for GyroFFT
add GYRO_FFT aux function
save FFT results on disarm
This commit is contained in:
Andy Piper 2019-12-30 18:15:48 +00:00 committed by Andrew Tridgell
parent 4c1816a983
commit 6613d4da3d
2 changed files with 18 additions and 1 deletions
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15
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -14,6 +14,11 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
#endif
#if HAL_GYROFFT_ENABLED
// @Group: FFT_
// @Path: ../AP_GyroFFT/AP_GyroFFT.cpp
AP_SUBGROUPINFO(gyro_fft, "FFT_", 2, AP_Vehicle, AP_GyroFFT),
#endif
AP_GROUPEND
};
@ -55,6 +60,10 @@ void AP_Vehicle::setup()
// init_ardupilot is where the vehicle does most of its initialisation.
init_ardupilot();
// gyro FFT needs to be initialized really late
#if HAL_GYROFFT_ENABLED
gyro_fft.init(AP::scheduler().get_loop_period_us());
#endif
}
void AP_Vehicle::loop()
@ -70,7 +79,11 @@ void AP_Vehicle::loop()
*/
const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_RUNCAM_ENABLED
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
#endif
#if HAL_GYROFFT_ENABLED
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, sample_gyros, LOOP_RATE, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
#endif
};

4
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -38,6 +38,7 @@
#include <AP_Camera/AP_RunCam.h>
#include <AP_Hott_Telem/AP_Hott_Telem.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <AP_GyroFFT/AP_GyroFFT.h>
class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@ -196,6 +197,9 @@ protected:
AP_RSSI rssi;
#if HAL_RUNCAM_ENABLED
AP_RunCam runcam;
#endif
#if HAL_GYROFFT_ENABLED
AP_GyroFFT gyro_fft;
#endif
AP_SerialManager serial_manager;