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Drone detection and filter logic

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This commit is contained in:
Egor Shitikov
2024-07-24 01:30:51 -07:00
committed by GitHub
parent 5401ed575c
commit 9a43db394a
1 changed files with 55 additions and 8 deletions
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src/main.cpp
+55 -8
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@@ -55,7 +55,7 @@ unsigned int median_freqancy = FREQ_BEGIN + range_freqancy / 2;
// numbers of the spectrum screan lines = width of screan
#define STEPS 128
// Number of samples for each freqancy scan. Fewer samples = better temporal resolution.
#define SAMPLES 35 //(scan time = 1294)
#define SAMPLES 50 //(scan time = 1294)
#define MAJOR_TICK_LENGTH 3
#define MINOR_TICK_LENGTH 1
#define X_AXIS_WEIGHT 2
@@ -66,16 +66,23 @@ unsigned int median_freqancy = FREQ_BEGIN + range_freqancy / 2;
#define RANGE (float)(FREQ_END - FREQ_BEGIN)
#define SINGLE_STEP (float)(RANGE / STEPS)
#define DRONE_DETECTION_LEVEL 20
#define BUZZZER_PIN 41
// Array to store the scan results
uint16_t result[RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE];
uint16_t filtered_result[RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE];
// global variable
unsigned short int scan_var = 0;
// initialized flag
bool initialized = false;
bool led_flag = true;
bool led_flag = false;
bool first_run = false;
// drone tetection flag
unsigned short int drone_detected = 0;
bool drone_detected = false;
unsigned int drone_detected_freqancy_start = 0;
unsigned int drone_detected_freqancy_end = 0;
unsigned int start_scan_text = (128 / 2) - 3;
@@ -87,7 +94,6 @@ unsigned int x,y = 0;
float freq = 0;
/**
* @brief Draws ticks on the display at regular whole intervals.
*
@@ -105,7 +111,6 @@ void drawTicks(float every, int length) {
}
}
/**
* @brief Decorates the display: everything but the plot itself.
*/
@@ -117,6 +122,9 @@ void displayDecorate() {
// frequencies
display.setTextAlignment(TEXT_ALIGN_LEFT);
display.drawString(0, SCALE_TEXT_TOP, String(FREQ_BEGIN));
//drone detection level
display.setTextAlignment(TEXT_ALIGN_RIGHT);
display.drawString(128, 0, String(DRONE_DETECTION_LEVEL));
display.setTextAlignment(TEXT_ALIGN_CENTER);
display.drawString(128/2, SCALE_TEXT_TOP, String(median_freqancy));
@@ -129,10 +137,10 @@ void displayDecorate() {
if(led_flag == true) {
digitalWrite(LED, HIGH);
tone(BUZZZER_PIN, 104, 500);
led_flag = false;
} else {
digitalWrite(LED, LOW);
led_flag = true;
}
// Status text block
if (drone_detected == 0) {
@@ -153,6 +161,16 @@ void displayDecorate() {
}
scan_var++;
if (scan_var == 3) scan_var = 0;
} else {
display.setTextAlignment(TEXT_ALIGN_CENTER);
//clear status line
display.setColor(BLACK);
display.fillRect(0, STATUS_TEXT_TOP, 128, 16);
display.setColor(WHITE);
display.drawString(start_scan_text, STATUS_TEXT_TOP, String(drone_detected_freqancy_start) + "->!UAV!<- " + String(drone_detected_freqancy_end));
drone_detected_freqancy_start = 0;
drone_detected = 0;
}
if (!initialized) {
@@ -172,6 +190,7 @@ void displayDecorate() {
void setup() {
pinMode(LED, OUTPUT);
pinMode(BUZZZER_PIN, OUTPUT);
heltec_setup();
display.clear();
// draw the logo
@@ -214,6 +233,10 @@ void loop() {
display.setColor(WHITE);
}
display.setTextAlignment(TEXT_ALIGN_RIGHT);
//drone detection level
display.drawString(128, 0, String(DRONE_DETECTION_LEVEL));
// do the scan
for (x = 0; x < STEPS; x++) {
if (ANIMATED_RELOAD) {
@@ -239,12 +262,36 @@ void loop() {
}
// read the results Array to which the results will be saved
radio.spectralScanGetResult(result);
//Filter Elements without neabors
for (y = 1; y < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE; y++) {
if(result[y] && (result[y + 1] > 0 || result[y - 1] > 0 )){
filtered_result[y] = 1;
} else {
filtered_result[y] = 0;
}
}
for (y = 0; y < RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE; y++) {
#ifdef PRINT_SCAN_VALUES
Serial.printf("%04X,", result[y]);
#endif
if (result[y]) {
display.setPixel(x, y);
if (result[y] || y == DRONE_DETECTION_LEVEL) {
// check if we shuld alarm the dron
if (filtered_result[y] == 1 && y <= DRONE_DETECTION_LEVEL) {
drone_detected = true;
if(drone_detected_freqancy_start == 0) {
drone_detected_freqancy_start = freq;
}
drone_detected_freqancy_end = freq;
led_flag = true;
tone(BUZZZER_PIN, 205, 10);
display.setPixel(x, 1);
display.setPixel(x, 2);
display.setPixel(x, 3);
}
if(filtered_result[y] == 1 || y == DRONE_DETECTION_LEVEL){
display.setPixel(x, y);
}
}
}
#ifdef PRINT_SCAN_VALUES