sys-id: implement linear and log sine sweeps

src/lib/system_identification/signal_generator.hpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
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+ *
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+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
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+ *    the documentation and/or other materials provided with the
+ *    distribution.
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+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file signal_generator.hpp
+ */
+
+#pragma once
+
+namespace signal_generator
+{
+
+float getLinearSineSweep(float f_start, float f_end, float duration, float t)
+{
+	if (t > duration) {
+		return 0.f;
+	}
+
+	const float w_start = f_start * M_TWOPI_F;
+	const float w_end = f_end * M_TWOPI_F;
+
+	return sinf(w_start * t + 0.5f * (w_end - w_start) * t * t / duration);
+}
+
+float getLogSineSweep(float f_start, float f_end, float duration, float t)
+{
+	if (t > duration) {
+		return 0.f;
+
+	}
+
+	float w_start = f_start * M_TWOPI_F;
+	float w_end = f_end * M_TWOPI_F;
+
+	if (f_start > f_end) {
+		// Handle high-to-low sweep correctly
+		w_start = f_end * M_TWOPI_F;
+		w_end = f_start * M_TWOPI_F;
+		t = duration - t;
+	}
+
+	return sinf(t * powf(10.f, log10f(w_start) + (log10f(w_end) - log10f(w_start)) * t / duration));
+}
+
+} /* namespace signal_generator */