worked on FIR-Convolution and LocalMaxima detection

sensors/imu/StepDetection.h

@@ -19,6 +19,7 @@
 
 #include "../../Assertions.h"
 #include "../../math/MovingAverageTS.h"
+#include "../../math/dsp/FIRComplex.h"
 
 
 /**
@@ -145,88 +146,6 @@ public:
 
 	}
 
-
-//private:
-
-//	/** low pass acc-magnitude */
-//	float avg1 = 0;
-
-//	/** even-more low-pass acc-magnitude */
-//	float avg2 = 0;
-
-//private:
-
-//	class Stepper {
-
-//	private:
-
-//		/** block for 300 ms after every step */
-//		const Timestamp blockTime = Timestamp::fromMS(300);
-
-//		/** the threshold for detecting a spike as step */
-//		const float threshold = 0.30;
-
-//		/** block until the given timestamp before detecting additional steps */
-//		Timestamp blockUntil;
-
-
-//	public:
-
-//		/** is the given (relative!) magnitude (mag - ~9.81) a step? */
-//		bool isStep(const Timestamp ts, const float mag) {
-
-//			// still blocking
-//			if (ts < blockUntil) {
-//				return false;
-//			}
-
-//			// threshold reached? -> step!
-//			if (mag > threshold) {
-
-//				// block x milliseconds until detecting the next step
-//				blockUntil = ts + blockTime;
-
-//				// we have a step
-//				return true;
-
-//			}
-
-//			// no step
-//			return false;
-
-//		}
-
-
-//	};
-
-//	Stepper stepper;
-
-//public:
-
-//	/** does the given data indicate a step? */
-//	bool add(const Timestamp ts, const AccelerometerData& acc) {
-
-//		avg1 = avg1 * 0.91 + acc.magnitude() * 0.09;	// short-time average	[filtered steps]
-//		avg2 = avg2 * 0.97 + acc.magnitude() * 0.03;	// long-time average	[gravity]
-
-//		// average maginitude must be > 9.0 to be stable enough to proceed
-//		if (avg2 > 9) {
-
-//			// gravity-free magnitude
-//			const float avg = avg1 - avg2;
-
-//			// detect steps
-//			return stepper.isStep(ts, avg);
-
-//		} else {
-
-//			return false;
-
-//		}
-
-//	}
-
-
 };