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px4-firmware/msg/SensorGyroFft.msg

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examples: add Gyro FFT using CMSIS 5 on Cortex-m (#15104) - this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)
2020-10-02 12:47:27 -03:00
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT
2021-02-25 11:09:59 -04:00
float32 sensor_sample_rate_hz
gyro_fft improve peak finding, parameterize min/max frequencies, remove debug logging - add min/max frequency parameters for peak detection (IMU_GYRO_FFT_MIN, IMU_GYRO_FFT_MAX) - remove full FFT debug logging - fix Quinn's second estimator - log sensor_gyro_fft - fake_gyro use PX4Gyroscope
2020-10-12 16:19:39 -03:00
float32 resolution_hz
examples: add Gyro FFT using CMSIS 5 on Cortex-m (#15104) - this is a work in progress experiment to compute real time FFTs from raw gyro FIFO data on Cortex-m hardware (stm32f4/f7/h7, etc)
2020-10-02 12:47:27 -03:00
gyro_fft: change default length 1024 -> 512 to decrease latency - change default FFT length (1024 -> 512) - this doubles the update rate because half the number of samples are required for each - decrease number of peaks (4 -> 3) - so far 3 seems to be sufficient on most vehicles - increase median filter window (3 -> 5) - decrease SNR requirement (likely needs to be configurable)
2021-07-06 22:54:18 -03:00
float32[3] peak_frequencies_x # x axis peak frequencies
float32[3] peak_frequencies_y # y axis peak frequencies
float32[3] peak_frequencies_z # z axis peak frequencies
gyro_fft: log peak frequency magnitudes
2021-03-15 01:47:11 -03:00
gyro_fft: change default length 1024 -> 512 to decrease latency - change default FFT length (1024 -> 512) - this doubles the update rate because half the number of samples are required for each - decrease number of peaks (4 -> 3) - so far 3 seems to be sufficient on most vehicles - increase median filter window (3 -> 5) - decrease SNR requirement (likely needs to be configurable)
2021-07-06 22:54:18 -03:00
float32[3] peak_snr_x # x axis peak SNR
float32[3] peak_snr_y # y axis peak SNR
float32[3] peak_snr_z # z axis peak SNR