we added the mti filter

pyratk/radars/radar.py

@@ -92,6 +92,9 @@ class Receiver(object):
         self.slow_fmax = 0
 
         self.data = None
+        self.fast_fft_len=int(round(self.daq.sample_rate * self.transmitter.pulses[0].delay))
+        self.mti_window = np.transpose(np.tile(np.fft.fftshift(signal.windows.chebwin(self.slow_fft_len,at=60)),self.fast_fft_size).reshape((-1,self.slow_fft_len)))
+        
 
     def connect_signals(self):
         # self.daq.reset_signal.connect(self.reset)
@@ -189,13 +192,14 @@ class Receiver(object):
 
         # print('dc.shape',dc.shape)
         self.fft_mat = self.compute_fft2(self.datacube[-1], (self.slow_fft_size, self.fast_fft_size))
+        #self.fft_mat=np.multiply(self.fft_mat,self.mti_window)
         # print('fft_mat.shape', self.fft_mat.shape)
 
-        # if self.datacube[-1].shape == self.datacube[-2].shape:
-        #     if hasattr(self, 'zero_fft_mat'):
-        #         self.fft_mat -= self.zero_fft_mat
-        #     else:
-        #         self.zero_fft_mat = self.fft_mat
+        if self.datacube[-1].shape == self.datacube[-2].shape:
+            if hasattr(self, 'zero_fft_mat'):
+                self.fft_mat -= self.zero_fft_mat
+            else:
+                self.zero_fft_mat = self.fft_mat
 
         # Power Thresholding
         # if self.cfft_data[vmax_bin] < POWER_THRESHOLD:

pyratk/widgets/range_doppler_widget.py

@@ -50,8 +50,8 @@ class RangeDopplerWidget(pg.PlotWidget):
 
         # set colormap
         self.img.setLookupTable(lut)
-        # self.img.setLevels([-70, 10]) # Good for drone
-        self.img.setLevels([-10, 20]) # Good for drone
+        self.img.setLevels([-80, 10]) # Good for drone
+        #self.img.setLevels([-10, 20]) # Good for drone
 
         self.rescale()
 
@@ -102,7 +102,7 @@ class RangeDopplerWidget(pg.PlotWidget):
 
     def update(self):
         self.update_map()
-        self.update_fps()
+        #self.update_fps()
 
     def reset(self):
         # When paused, redraw after reset