PX4正是借用了这部分代码完成FFT运算,流程如下 (1)初始化阶段浮点数转换成定点格式 for (int n = 0; n < _imu_gyro_fft_len; n++) { const float hanning_value = 0.5f * (1.f - cosf(2.f * M_PI_F * n / (_imu_gyro_fft_len - 1))); arm_float_to_q15(&hanning_value, &_hannin...
飞控中跟振动有关的参数有两个:一个是IMU_GYRO_CUTOFF,这个参数是用于陀螺仪原始数据输出滤波的,滤波器是一个巴特沃斯二阶低通滤波,这个参数当然是要设置成小于振动主频率,但最好不好小于40hz,避免引入过大的延时。另外一个参数是MC_DTERM_CUTOFF,这就是角速率环D项的滤波参数,这个噪声更大,所以滤波参数选得较...
调参前需要配置日志记录参数:SDLOG_PROFILE ,勾选High rate。 调参数IMU_GYRO_CUTOFF。 看陀螺仪数据的FFT频谱图 以下图为例,在40HZ以后的噪声比较多,可以设置IMU_GYRO_CUTOFF为35。 调参数IMU_DGYRO_CUTOFF。 看角加速度的FFT图 以下图为例,在40Hz以后有一个噪声高峰,可以设置IMU_DGYRO_CUTOFF为35 调参数I...
[submodule"Tools/jsbsim_bridge"]path = Tools/jsbsim_bridgeurl = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git [submodule"src/examples/gyro_fft/CMSIS_5"]path = src/examples/gyro_fft/CMSIS_5url = https://gitee.com/mirrors/CMSIS_5 git submodule update --init (2) libuavcan文件夹 ...
gyro_fft: add simple SNR requirement and reduce number of peaks 4年前 src Add driver AW2013 rgbled, Tested successfully on cuav nora+ I2C4 port. 2年前 test mavsdk_tests: bump MAVSDK version to 0.40.0 4年前 test_data ghst: keep the previous values for channels that are not updated ...
4年前 .devcontainer UAVCAN v1 GPS demo with MAVCAN autoconfigure 4年前 .github boards: px4_fmu-v6u_default address flash shortage 4年前 .vscode delete RATTITUDE flight mode 4年前 Documentation DriverFramework purge 5年前 ROMFS ROMFS: posix rcS add gyro_fft and gyro_calibration start ...
CONFIG_MODULES_GYRO_FFT=n CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_BOARD_TESTING=y CONFIG_DRIVERS_TEST_PPM=y CONFIG_SYSTEMCMDS_MICROBENCH=y 4 changes: 2 additions & 2 deletions 4 boards/px4/fmu-v5/rover.px4board Original file line number...
boards: disable gyro fft module for v5 and v5x to safe flash Dec 21, 2022 cmake fix kconfig: rename LINUX to LINUX_TARGET Dec 13, 2022 integrationtests/python_src/px4_it Spelling errors (PX4#19935) Jul 27, 2022 launch simulation organization and cleanup Aug 25, 2022 msg TECS: Combine ...
//gitee.com/robin_shaun/PX4-FlightGear-Bridge.git branch = master [submodule"Tools/jsbsim_bridge"] path = Tools/jsbsim_bridge url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git [submodule"src/examples/gyro_fft/CMSIS_5"] path = src/examples/gyro_fft/CMSIS_5 url = https://...
//gitee.com/robin_shaun/PX4-FlightGear-Bridge.git branch = master [submodule "Tools/jsbsim_bridge"] path = Tools/jsbsim_bridge url = https://gitee.com/robin_shaun/px4-jsbsim-bridge.git [submodule "src/examples/gyro_fft/CMSIS_5"] path = src/examples/gyro_fft/CMSIS_5 url = https:/...