use regulated time for frequency noise to avoid spurious harmonics
SITL sensors must be true separate instances
don't compile in FFT structures if DSP disabled
add arming checks to validate FFT performance
allow gyros to be sampled at either the fastloop rate or gyro rate.
add gyro and parameter update loops for GyroFFT
add GYRO_FFT aux function
save FFT results on disarm
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
add dynamic gyro windows
control inclusion based on HAL_WITH_DSP and GYROFFT_ENABLED
target appropriate ARM cpus
constrain window sizes to be achievable
improve FFT signal accuracy through configurable window overlap and quinn's estimator
calculate energy weighted center frequency
add support for learning hover frequency and throttle reference
calculate power spectrum rather than amplitude
record noise as a per-bin power spectrum
calculate true SNR per-bin and use that to determine there is a signal
add user config for SNR signal level
constrain frequency scanning to MAXHZ
calculate and learn the peak bandwidth at the configured attenuation
allow enabling/disabling dynamically through rc function
MAXHZ should be below Nyquist
Incorporate full range of MAXHZ to MINHZ
update FFT analysis in a separate thread
allocate memory in a specific region
constrain window size by CPU class
do not allocate any resources when not enabled
Prevent self-check and analysis interfering with each other
put configuration and initialization to AP_Vehicle
add logging
fix significant issues with threading, locking and sample buffer access
use both calculated noise peaks together with the harmonic notch configuration to detemine which peak represents the fundamental harmonic that should be tracked
record harmonic fit
add CMSIS 5 libraries and headers
allow larger FFT lengths on Linux and SITL
implements an FFT engine based on the betaflight feature using ARM hardware accelerated CMSIS library
make the FFT feature optional
add dynamic gyro windows
add quinns and candans estimators and record in DSP state
disable DSP for boards with limited flash
calculate power spectrum rather than amplitude
start/analyse version of analysis to support threading
allocate memory in a specific region
constrain window size by CPU class
control inclusion of DSP based on board size
control inclusion of FFT based on HAL_WITH_DSP and HAL_GYROFFT_ENABLED. target appropriate ARM cpus
define hanning window and quinn's estimator
start/analyse version of FFT to support threading
allocate memory in a specific region
calculate frequency and noise bandwidth of two noisiest peaks
control inclusion of DSP based on board size
FFT windows can be dynamically allocated
add harmonic notch dynamic tracking mode
unwind gyro window allocation in the case of failure
allow access to harmonic notch harmonics
Includes commits by rmackay9
AC_WPNav: fixup max speed acceleration
AC_WPNav: simplify the initialisation of poscontrol's max speed
Changed at Leonard's request to keep things simpler
Andy Piper
Peter Barker
Andrew Tridgell
Arash Negahdar
bnsgeyer
Randy Mackay
Pierre Kancir
ashvath100