FlintyLemming/PLFM_RADAR
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fix(gui): align radar parameters to FPGA truth (radar_scene.py)

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- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output)
- Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation
- Velocity formula: use PRI (167 us) and chirps_per_subframe (16)
- Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py
- Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m
- Fix simulator target spawn range to match new coverage (50-1400 m)
- Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk
- All 174 tests pass, ruff clean
This commit is contained in:
Jason
2026-04-16 21:35:01 +05:45
parent 161e9a66e4
commit 76cfc71b19
5 changed files with 58 additions and 49 deletions
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9_Firmware/9_3_GUI/test_v7.py
+16 -14
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@@ -65,9 +65,9 @@ class TestRadarSettings(unittest.TestCase):
def test_defaults(self):
s = _models().RadarSettings()
self.assertEqual(s.system_frequency, 10e9)
self.assertEqual(s.coverage_radius, 50000)
self.assertEqual(s.max_distance, 50000)
self.assertEqual(s.system_frequency, 10.5e9)
self.assertEqual(s.coverage_radius, 1536)
self.assertEqual(s.max_distance, 1536)
class TestGPSData(unittest.TestCase):
@@ -425,26 +425,28 @@ class TestWaveformConfig(unittest.TestCase):
def test_defaults(self):
from v7.models import WaveformConfig
wc = WaveformConfig()
self.assertEqual(wc.sample_rate_hz, 4e6)
self.assertEqual(wc.bandwidth_hz, 500e6)
self.assertEqual(wc.chirp_duration_s, 300e-6)
self.assertEqual(wc.center_freq_hz, 10.525e9)
self.assertEqual(wc.sample_rate_hz, 100e6)
self.assertEqual(wc.bandwidth_hz, 20e6)
self.assertEqual(wc.chirp_duration_s, 30e-6)
self.assertEqual(wc.pri_s, 167e-6)
self.assertEqual(wc.center_freq_hz, 10.5e9)
self.assertEqual(wc.n_range_bins, 64)
self.assertEqual(wc.n_doppler_bins, 32)
self.assertEqual(wc.chirps_per_subframe, 16)
self.assertEqual(wc.fft_size, 1024)
self.assertEqual(wc.decimation_factor, 16)
def test_range_resolution(self):
"""range_resolution_m should be ~5.62 m/bin with ADI defaults."""
"""range_resolution_m should be ~23.98 m/bin (matched filter, 100 MSPS)."""
from v7.models import WaveformConfig
wc = WaveformConfig()
self.assertAlmostEqual(wc.range_resolution_m, 5.621, places=1)
self.assertAlmostEqual(wc.range_resolution_m, 23.983, places=1)
def test_velocity_resolution(self):
"""velocity_resolution_mps should be ~1.484 m/s/bin."""
"""velocity_resolution_mps should be ~5.34 m/s/bin (PRI=167us, 16 chirps)."""
from v7.models import WaveformConfig
wc = WaveformConfig()
self.assertAlmostEqual(wc.velocity_resolution_mps, 1.484, places=2)
self.assertAlmostEqual(wc.velocity_resolution_mps, 5.343, places=1)
def test_max_range(self):
"""max_range_m = range_resolution * n_range_bins."""
@@ -466,7 +468,7 @@ class TestWaveformConfig(unittest.TestCase):
"""Non-default parameters correctly change derived values."""
from v7.models import WaveformConfig
wc1 = WaveformConfig()
wc2 = WaveformConfig(bandwidth_hz=1e9) # double BW → halve range res
wc2 = WaveformConfig(sample_rate_hz=200e6) # double Fs → halve range bin
self.assertAlmostEqual(wc2.range_resolution_m, wc1.range_resolution_m / 2, places=2)
def test_zero_center_freq_velocity(self):
@@ -925,9 +927,9 @@ class TestExtractTargetsFromFrame(unittest.TestCase):
"""Detection at range bin 10 → range = 10 * range_resolution."""
from v7.processing import extract_targets_from_frame
frame = self._make_frame(det_cells=[(10, 16)]) # dbin=16 = center → vel=0
targets = extract_targets_from_frame(frame, range_resolution=5.621)
targets = extract_targets_from_frame(frame, range_resolution=23.983)
self.assertEqual(len(targets), 1)
self.assertAlmostEqual(targets[0].range, 10 * 5.621, places=2)
self.assertAlmostEqual(targets[0].range, 10 * 23.983, places=1)
self.assertAlmostEqual(targets[0].velocity, 0.0, places=2)
def test_velocity_sign(self):