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gyro_fft: change default length 1024 -> 512 to decrease latency

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- 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)
This commit is contained in:
Daniel Agar
2021-07-06 21:54:18 -04:00
committed by GitHub
parent f296a41737
commit 1b5e65df04
5 changed files with 17 additions and 16 deletions
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posix-configs/SITL/init/test/test_imu_filtering
+1 -1
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@@ -18,7 +18,7 @@ param set IMU_GYRO_RATEMAX 1000
param set IMU_GYRO_FFT_EN 1
param set IMU_GYRO_FFT_MIN 10
param set IMU_GYRO_FFT_MAX 1000
param set IMU_GYRO_FFT_LEN 1024
param set IMU_GYRO_FFT_LEN 512
# dynamic notches ESC/FFT/both
#param set IMU_GYRO_DYN_NF 1