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user configurable sample rate, true peak detection

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1. User can set sampling rate to suit expected range of frequencies:
- HIGH suits 4" or smaller and 6S 5"
- MEDIUM suits classic 5" 4S
- LOW is for 6" or greater
Limits automatically scaled:
HIGH : 133/166 to 1000Hz, MEDIUM : 89/111 to 666Hz, LOW : 67/83 to 500Hz
2. Bandpass entirely eliminated, not needed.
3. True peak detection method, favouring first peak to exceed 80% of maximum bin height; ignore or threshold values not required.
This commit is contained in:
ctzsnooze 2018-08-13 15:00:24 +10:00
parent 3f001295f7
commit 14c90bf10b
5 changed files with 93 additions and 83 deletions
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11
src/main/sensors/gyro.h
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@ -63,6 +63,12 @@ enum {
DYN_FFT_AFTER_STATIC_FILTERS
} ;
enum {
DYN_FILTER_RANGE_HIGH = 0,
DYN_FILTER_RANGE_MEDIUM,
DYN_FILTER_RANGE_LOW
} ;
#define GYRO_CONFIG_USE_GYRO_1 0
#define GYRO_CONFIG_USE_GYRO_2 1
#define GYRO_CONFIG_USE_GYRO_BOTH 2
@ -101,12 +107,11 @@ typedef struct gyroConfig_s {
int16_t yaw_spin_threshold;
uint16_t gyroCalibrationDuration; // Gyro calibration duration in 1/100 second
uint8_t dyn_filter_type;
uint8_t dyn_filter_width_percent;
uint8_t dyn_notch_quality; // bandpass quality factor, 100 for steep sided bandpass
uint8_t dyn_fft_location; // before or after static filters
uint8_t dyn_filter_threshold; // divided by 10 then difference needed to detect peak
uint8_t dyn_filter_ignore; // ignore any FFT bin below this threshold
uint8_t dyn_filter_range; // ignore any FFT bin below this threshold
} gyroConfig_t;
PG_DECLARE(gyroConfig_t, gyroConfig);