forked from Archive/PX4-Autopilot
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
This commit is contained in:
Daniel Agar
GitHub
parent
ff3008c051
commit
f557fa46e8
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@ -120,7 +120,6 @@ set(msg_files
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sensor_gps.msg
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sensor_gyro.msg
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sensor_gyro_fft.msg
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sensor_gyro_fft_axis.msg
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sensor_gyro_fifo.msg
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sensor_mag.msg
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sensor_preflight_mag.msg
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@ -4,12 +4,14 @@ uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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float32 scale
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uint8 samples # number of valid samples
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float32 resolution_hz
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uint8 peak_index
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uint8[3] peak_index_0
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uint8[3] peak_index_1
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float32 peak_frequency_0
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float32 peak_frequency_1
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float32 peak_frequency_2
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float32[3] peak_frequency_0 # largest frequency peak found per sensor axis (0 if none)
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float32[3] peak_frequency_1 # second largest frequency peak found per sensor axis (0 if none)
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uint8[3] peak_index_quinns
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float32[3] peak_frequency_quinns
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@ -1,23 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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uint16 samples # number of valid samples
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float32 resolution_hz
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int16[128] fft
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uint16 peak_index
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uint16 peak_index_quinns
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float32 peak_frequency
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float32 peak_frequency_quinns
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uint8 AXIS_X = 0
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uint8 AXIS_Y = 1
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uint8 AXIS_Z = 2
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uint8 axis
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@ -287,8 +287,6 @@ rtps:
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id: 136
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- msg: sensor_gyro_fft
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id: 137
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- msg: sensor_gyro_fft_axis
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id: 138
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########## multi topics: begin ##########
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- msg: actuator_controls_0
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id: 150
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@ -40,5 +40,6 @@ px4_add_module(
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FakeGyro.cpp
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FakeGyro.hpp
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DEPENDS
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drivers_gyroscope
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px4_work_queue
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)
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@ -37,8 +37,10 @@ using namespace time_literals;
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FakeGyro::FakeGyro() :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
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_px4_gyro(1310988) // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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{
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_px4_gyro.set_scale(math::radians(2000.f) / static_cast<float>(INT16_MAX - 1)); // 2000 degrees/second max
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}
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bool FakeGyro::init()
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@ -55,29 +57,26 @@ void FakeGyro::Run()
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return;
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}
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sensor_gyro_fifo_s sensor_gyro_fifo{};
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sensor_gyro_fifo.timestamp_sample = hrt_absolute_time();
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sensor_gyro_fifo.device_id = 1;
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sensor_gyro_fifo.samples = GYRO_RATE / (1e6f / SENSOR_RATE);
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sensor_gyro_fifo.dt = 1e6f / GYRO_RATE; // 8 kHz fake gyro
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sensor_gyro_fifo.scale = math::radians(2000.f) / static_cast<float>(INT16_MAX - 1); // 2000 degrees/second max
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sensor_gyro_fifo_s gyro{};
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gyro.timestamp_sample = hrt_absolute_time();
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gyro.samples = GYRO_RATE / (1e6f / SENSOR_RATE);
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gyro.dt = 1e6f / GYRO_RATE; // 8 kHz fake gyro;
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const float dt_s = sensor_gyro_fifo.dt / 1e6f;
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const float x_freq = 15.f; // 15 Hz x frequency
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const float y_freq = 63.5f; // 63.5 Hz y frequency
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const float z_freq = 99.f; // 99 Hz z frequency
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const float dt_s = gyro.dt * 1e-6f;
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const float x_freq = 15.f; // 15,0 Hz X frequency
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const float y_freq = 63.5f; // 63.5 Hz Y frequency
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const float z_freq = 135.f; // 135.0 Hz Z frequency
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for (int n = 0; n < sensor_gyro_fifo.samples; n++) {
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for (int n = 0; n < gyro.samples; n++) {
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_time += dt_s;
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const float k = 2.f * M_PI_F * _time;
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sensor_gyro_fifo.x[n] = (INT16_MAX - 1) * sinf(k * x_freq);
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sensor_gyro_fifo.y[n] = (INT16_MAX - 1) / 2 * sinf(k * y_freq);
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sensor_gyro_fifo.z[n] = (INT16_MAX - 1) * cosf(k * z_freq);
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gyro.x[n] = (INT16_MAX - 1) * sinf(k * x_freq);
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gyro.y[n] = (INT16_MAX - 1) / 2 * sinf(k * y_freq);
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gyro.z[n] = (INT16_MAX - 1) * cosf(k * z_freq);
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}
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sensor_gyro_fifo.timestamp = hrt_absolute_time();
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_sensor_gyro_fifo_pub.publish(sensor_gyro_fifo);
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_px4_gyro.updateFIFO(gyro);
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}
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int FakeGyro::task_spawn(int argc, char *argv[])
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@ -38,6 +38,7 @@
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_gyro_fifo.h>
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@ -65,7 +66,7 @@ private:
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void Run() override;
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uORB::PublicationMulti<sensor_gyro_fifo_s> _sensor_gyro_fifo_pub{ORB_ID(sensor_gyro_fifo)};
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PX4Gyroscope _px4_gyro;
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float _time{0.f};
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};
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@ -53,7 +53,7 @@ GyroFFT::GyroFFT() :
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float hanning_window[FFT_LENGTH];
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for (int n = 0; n < FFT_LENGTH; n++) {
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hanning_window[n] = 0.5f - 0.5f * cosf(2.f * M_PI_F * n / (FFT_LENGTH - 1));
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hanning_window[n] = 0.5f * (1.f - cosf(2.f * M_PI_F * n / (FFT_LENGTH - 1)));
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}
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arm_float_to_q15(hanning_window, _hanning_window, FFT_LENGTH);
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@ -91,6 +91,21 @@ bool GyroFFT::SensorSelectionUpdate(bool force)
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&& (sensor_gyro_fifo_sub.get().device_id == sensor_selection.gyro_device_id)) {
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if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) {
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// find corresponding vehicle_imu_status instance
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for (uint8_t imu_status = 0; imu_status < MAX_SENSOR_COUNT; imu_status++) {
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uORB::Subscription imu_status_sub{ORB_ID(vehicle_imu_status), imu_status};
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vehicle_imu_status_s vehicle_imu_status;
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if (imu_status_sub.copy(&vehicle_imu_status)) {
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if (vehicle_imu_status.gyro_device_id == sensor_selection.gyro_device_id) {
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_vehicle_imu_status_sub.ChangeInstance(imu_status);
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return true;
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}
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}
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}
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PX4_WARN("unable to find IMU status for gyro %d", sensor_selection.gyro_device_id);
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return true;
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}
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}
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@ -103,6 +118,17 @@ bool GyroFFT::SensorSelectionUpdate(bool force)
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return false;
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}
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void GyroFFT::VehicleIMUStatusUpdate()
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{
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vehicle_imu_status_s vehicle_imu_status;
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if (_vehicle_imu_status_sub.update(&vehicle_imu_status)) {
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if ((vehicle_imu_status.gyro_rate_hz > 0) && (fabsf(vehicle_imu_status.gyro_rate_hz - _gyro_sample_rate_hz) > 1.f)) {
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_gyro_sample_rate_hz = vehicle_imu_status.gyro_rate_hz;
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}
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}
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}
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// helper function used for frequency estimation
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static constexpr float tau(float x)
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{
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@ -138,6 +164,10 @@ void GyroFFT::Run()
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SensorSelectionUpdate();
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const float resolution_hz = _gyro_sample_rate_hz / (FFT_LENGTH * 2);
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bool publish = false;
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// run on sensor gyro fifo updates
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sensor_gyro_fifo_s sensor_gyro_fifo;
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@ -189,60 +219,122 @@ void GyroFFT::Run()
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arm_rfft_q15(&_rfft_q15[axis], _fft_input_buffer, _fft_outupt_buffer);
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perf_end(_fft_perf);
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static constexpr uint16_t MIN_SNR = 100; // TODO:
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uint32_t max_peak_0 = 0;
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uint8_t max_peak_index_0 = 0;
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bool peak_0_found = false;
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// find peak location using Quinn's Second Estimator (2020-06-14: http://dspguru.com/dsp/howtos/how-to-interpolate-fft-peak/)
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int16_t max_peak = 0;
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uint16_t max_peak_index = 0;
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// start at 2 to skip DC
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// output is ordered [real[0], imag[0], real[1], imag[1], real[2], imag[2] ... real[(N/2)-1], imag[(N/2)-1]
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for (uint16_t bucket_index = 2; bucket_index < FFT_LENGTH; bucket_index = bucket_index + 2) {
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const float freq_hz = bucket_index * resolution_hz;
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// start at 1 to skip DC
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for (uint16_t bucket_index = 1; bucket_index < FFT_LENGTH; bucket_index++) {
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if (abs(_fft_outupt_buffer[bucket_index]) >= max_peak) {
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max_peak_index = bucket_index;
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max_peak = abs(_fft_outupt_buffer[bucket_index]);
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if (freq_hz > _param_imu_gyro_fft_max.get()) {
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break;
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}
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if (freq_hz >= _param_imu_gyro_fft_min.get()) {
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const int16_t real = _fft_outupt_buffer[bucket_index];
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const int16_t complex = _fft_outupt_buffer[bucket_index + 1];
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const uint32_t fft_value_squared = real * real + complex * complex;
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if ((fft_value_squared > MIN_SNR) && (fft_value_squared >= max_peak_0)) {
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max_peak_index_0 = bucket_index;
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max_peak_0 = fft_value_squared;
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peak_0_found = true;
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}
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}
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}
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if (peak_0_found) {
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{
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// find peak location using Quinn's Second Estimator (2020-06-14: http://dspguru.com/dsp/howtos/how-to-interpolate-fft-peak/)
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int16_t real[3] {_fft_outupt_buffer[max_peak_index_0 - 2], _fft_outupt_buffer[max_peak_index_0], _fft_outupt_buffer[max_peak_index_0 + 2]};
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int16_t imag[3] {_fft_outupt_buffer[max_peak_index_0 - 2 + 1], _fft_outupt_buffer[max_peak_index_0 + 1], _fft_outupt_buffer[max_peak_index_0 + 2 + 1]};
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int k = max_peak_index;
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float divider = powf(_fft_outupt_buffer[k], 2.f);
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float ap = (_fft_outupt_buffer[k + 1] * _fft_outupt_buffer[k]) / divider;
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float dp = -ap / (1.f - ap);
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float am = (_fft_outupt_buffer[k - 1] * _fft_outupt_buffer[k]) / divider;
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const int k = 1;
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float dm = am / (1.f - am);
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float d = (dp + dm) / 2 + tau(dp * dp) - tau(dm * dm);
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float divider = (real[k] * real[k] + imag[k] * imag[k]);
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float adjustedBinLocation = k + d;
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float peakFreqAdjusted = (_gyro_sample_rate * adjustedBinLocation / (FFT_LENGTH * 2));
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// ap = (X[k + 1].r * X[k].r + X[k+1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i)
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float ap = (real[k + 1] * real[k] + imag[k + 1] * imag[k]) / divider;
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// am = (X[k – 1].r * X[k].r + X[k – 1].i * X[k].i) / (X[k].r * X[k].r + X[k].i * X[k].i)
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float am = (real[k - 1] * real[k] + imag[k - 1] * imag[k]) / divider;
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float dp = -ap / (1.f - ap);
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float dm = am / (1.f - am);
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float d = (dp + dm) / 2 + tau(dp * dp) - tau(dm * dm);
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uint8_t adjustedBinLocation = roundf(max_peak_index_0 + d);
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float peakFreqAdjusted = (_gyro_sample_rate_hz * adjustedBinLocation / (FFT_LENGTH * 2));
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_sensor_gyro_fft.peak_index_quinns[axis] = adjustedBinLocation;
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_sensor_gyro_fft.peak_frequency_quinns[axis] = peakFreqAdjusted;
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}
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// publish sensor_gyro_fft_axis (one instance per axis)
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sensor_gyro_fft_axis_s sensor_gyro_fft_axis{};
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const int N_publish = math::min((unsigned)FFT_LENGTH,
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sizeof(sensor_gyro_fft_axis_s::fft) / sizeof(sensor_gyro_fft_axis_s::fft[0]));
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memcpy(sensor_gyro_fft_axis.fft, _fft_outupt_buffer, N_publish);
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// find next peak
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uint32_t max_peak_1 = 0;
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uint8_t max_peak_index_1 = 0;
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bool peak_1_found = false;
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sensor_gyro_fft_axis.resolution_hz = _gyro_sample_rate / (FFT_LENGTH * 2);
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for (uint16_t bucket_index = 2; bucket_index < FFT_LENGTH; bucket_index = bucket_index + 2) {
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if (bucket_index != max_peak_index_0) {
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const float freq_hz = bucket_index * resolution_hz;
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sensor_gyro_fft_axis.peak_index = max_peak_index;
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sensor_gyro_fft_axis.peak_frequency = max_peak_index * sensor_gyro_fft_axis.resolution_hz;
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if (freq_hz > _param_imu_gyro_fft_max.get()) {
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break;
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}
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sensor_gyro_fft_axis.peak_index_quinns = adjustedBinLocation;
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sensor_gyro_fft_axis.peak_frequency_quinns = peakFreqAdjusted;
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if (freq_hz >= _param_imu_gyro_fft_min.get()) {
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const int16_t real = _fft_outupt_buffer[bucket_index];
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const int16_t complex = _fft_outupt_buffer[bucket_index + 1];
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const uint32_t fft_value_squared = real * real + complex * complex;
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sensor_gyro_fft_axis.samples = FFT_LENGTH;
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sensor_gyro_fft_axis.dt = 1e6f / _gyro_sample_rate;
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sensor_gyro_fft_axis.device_id = sensor_gyro_fifo.device_id;
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sensor_gyro_fft_axis.axis = axis;
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sensor_gyro_fft_axis.timestamp_sample = sensor_gyro_fifo.timestamp_sample;
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sensor_gyro_fft_axis.timestamp = hrt_absolute_time();
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_sensor_gyro_fft_axis_pub[axis].publish(sensor_gyro_fft_axis);
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if ((fft_value_squared > MIN_SNR) && (fft_value_squared >= max_peak_1)) {
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max_peak_index_1 = bucket_index;
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max_peak_1 = fft_value_squared;
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peak_1_found = true;
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}
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}
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}
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}
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if (peak_1_found) {
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// if 2 peaks found then log them in order
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_sensor_gyro_fft.peak_index_0[axis] = math::min(max_peak_index_0, max_peak_index_1);
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_sensor_gyro_fft.peak_index_1[axis] = math::max(max_peak_index_0, max_peak_index_1);
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_sensor_gyro_fft.peak_frequency_0[axis] = _sensor_gyro_fft.peak_index_0[axis] * resolution_hz;
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_sensor_gyro_fft.peak_frequency_1[axis] = _sensor_gyro_fft.peak_index_1[axis] * resolution_hz;
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} else {
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// only 1 peak found
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_sensor_gyro_fft.peak_index_0[axis] = max_peak_index_0;
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_sensor_gyro_fft.peak_index_1[axis] = 0;
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_sensor_gyro_fft.peak_frequency_0[axis] = max_peak_index_0 * resolution_hz;
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_sensor_gyro_fft.peak_frequency_1[axis] = 0;
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}
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publish = true;
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}
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// reset
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buffer_index = 0;
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}
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}
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}
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if (publish) {
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_sensor_gyro_fft.dt = 1e6f / _gyro_sample_rate_hz;
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_sensor_gyro_fft.device_id = sensor_gyro_fifo.device_id;
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_sensor_gyro_fft.resolution_hz = resolution_hz;
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_sensor_gyro_fft.timestamp_sample = sensor_gyro_fifo.timestamp_sample;
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_sensor_gyro_fft.timestamp = hrt_absolute_time();
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_sensor_gyro_fft_pub.publish(_sensor_gyro_fft);
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publish = false;
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}
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}
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perf_end(_cycle_perf);
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@ -46,9 +46,9 @@
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_gyro_fft.h>
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#include <uORB/topics/sensor_gyro_fft_axis.h>
|
||||
#include <uORB/topics/sensor_gyro_fifo.h>
|
||||
#include <uORB/topics/sensor_selection.h>
|
||||
#include <uORB/topics/vehicle_imu_status.h>
|
||||
|
||||
#include "arm_math.h"
|
||||
#include "arm_const_structs.h"
|
||||
|
|
@ -76,18 +76,15 @@ public:
|
|||
private:
|
||||
void Run() override;
|
||||
bool SensorSelectionUpdate(bool force = false);
|
||||
void VehicleIMUStatusUpdate();
|
||||
|
||||
static constexpr int MAX_SENSOR_COUNT = 3;
|
||||
|
||||
uORB::Publication<sensor_gyro_fft_s> _sensor_gyro_fft_pub{ORB_ID(sensor_gyro_fft)};
|
||||
uORB::Publication<sensor_gyro_fft_axis_s> _sensor_gyro_fft_axis_pub[3] {
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
ORB_ID(sensor_gyro_fft_axis),
|
||||
};
|
||||
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
|
||||
uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _sensor_gyro_fifo_sub{this, ORB_ID(sensor_gyro_fifo)};
|
||||
|
||||
|
|
@ -106,9 +103,16 @@ private:
|
|||
q15_t _fft_input_buffer[FFT_LENGTH] {};
|
||||
q15_t _fft_outupt_buffer[FFT_LENGTH * 2] {};
|
||||
|
||||
float _gyro_sample_rate{8000}; // 8 kHz default
|
||||
float _gyro_sample_rate_hz{8000}; // 8 kHz default
|
||||
|
||||
int _fft_buffer_index[3] {};
|
||||
|
||||
unsigned _gyro_last_generation{0};
|
||||
|
||||
sensor_gyro_fft_s _sensor_gyro_fft{};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::IMU_GYRO_FFT_MIN>) _param_imu_gyro_fft_min,
|
||||
(ParamFloat<px4::params::IMU_GYRO_FFT_MAX>) _param_imu_gyro_fft_max
|
||||
)
|
||||
};
|
||||
|
|
|
|||
|
|
@ -0,0 +1,54 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* 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
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* 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,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* IMU gyro FFT minimum frequency.
|
||||
*
|
||||
* @min 1
|
||||
* @max 1000
|
||||
* @unit Hz
|
||||
* @reboot_required true
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 30.0f);
|
||||
|
||||
/**
|
||||
* IMU gyro FFT maximum frequency.
|
||||
*
|
||||
* @min 1
|
||||
* @max 1000
|
||||
* @unit Hz
|
||||
* @reboot_required true
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 200.0f);
|
||||
|
|
@ -80,6 +80,7 @@ void LoggedTopics::add_default_topics()
|
|||
add_topic("safety");
|
||||
add_topic("sensor_combined");
|
||||
add_topic("sensor_correction");
|
||||
add_topic("sensor_gyro_fft");
|
||||
add_topic("sensor_preflight_mag", 500);
|
||||
add_topic("sensor_selection");
|
||||
add_topic("sensors_status_imu", 200);
|
||||
|
|
|
|||
Loading…
Reference in New Issue