mirror of https://github.com/ArduPilot/ardupilot
6da1f3bf2e
add filtered second and third harmonics and log them make sure we use all of the gyro samples available on each axis rather than skipping separate gyro update from fft start to minimize time in fast loop add FFT_HMNC_PEAK to allow users to select which noise peak and which axis will be tracked. make sure the self-test runs once and display the results report self-test failure reason. make sure self-test runs for all windows. always give logging a chance to run at IO_PRIORITY add log message documentation make sure the engine still runs even when the arming check has been disabled record last FFT update time and cycle time and fallback to throttle estimate when update is too old delay for longer in FFT thread between cycles to cope on F4 try really hard to get a viable frequency estimate change range on MAXHZ/MINHZ to reflect that 50Hz is actually quite dangerous swap the center peak for one of the shoulders if there is temporarily a closer match with the frequency trend when FFT is disabled still log harmonic notch frequency use distance matrix to find most appropriate peak use a median filter to remove outliers before filtering discount peaks that are relatively too low in energy make sure harmonic fit is tracked for both potential targets convert all gyro buffers to ObjectBuffer<float> for lock-free access run all FFT steps inside the FFT thread calculate cycle time and loop delay correctly drop samples when the ring buffer is full |
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| .. | ||
| CMSIS_5 | ||
| AP_GyroFFT.cpp | ||
| AP_GyroFFT.h | ||