Detection display update and tuning

config/radar4.yml

@@ -21,11 +21,11 @@ process:
     delayMin: -10
     delayMax: 300
   detection:
-    pfa: 0.000001
-    nGuard: 10
-    nTrain: 20
+    pfa: 0.00001
+    nGuard: 2
+    nTrain: 6
     minDelay: 5
-    minDoppler: 20
+    minDoppler: 15
 
 network:
   ip: 0.0.0.0

html/js/plot_map.js

@@ -2,6 +2,8 @@ var timestamp = -1;
 var nRows = 3;
 var host = window.location.hostname;
 var isLocalHost = (host === "localhost" || host === "127.0.0.1" || host === "192.168.0.112");
+var range_x = [];
+var range_y = [];
 
 // setup API
 var urlTimestamp = '';
@@ -61,7 +63,7 @@ var layout = {
 };
 var config = {
   displayModeBar: false,
-  responsive: true
+  scrollZoom: true
 }
 
 // setup plotly data
@@ -98,6 +100,14 @@ var intervalId = window.setInterval(function () {
             // case draw new plot
             if (data.nRows != nRows) {
               nRows = data.nRows;
+
+              // lock range before other trace
+              var layout_update = {
+                'xaxis.range': [data.delay[0], data.delay.slice(-1)[0]],
+                'yaxis.range': [data.doppler[0], data.doppler.slice(-1)[0]]
+              };
+              Plotly.relayout('ddmap', layout_update);
+
               var trace1 = {
                   z: data.data,
                   x: data.delay,
@@ -112,7 +122,11 @@ var intervalId = window.setInterval(function () {
                   x: detection.delay,
                   y: detection.doppler,
                   mode: 'markers',
-                  type: 'scatter'
+                  type: 'scatter',
+                  marker: {
+                    size: 16,
+                    opacity: 0.6
+                  }
               };
               
               var data_trace = [trace1, trace2];

src/process/detection/CfarDetector1D.cpp

@@ -84,7 +84,7 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
       // detection if over threshold
       if (mapRowSquare[j] > threshold)
       {
-        delay.push_back(j + x->delay[0] - 1);
+        delay.push_back(j + x->delay[0] + 1);
         doppler.push_back(x->doppler[i]);
         snr.push_back(mapRowSnr[j]);
       }