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AWRL1432BOOST-BSD:How peakGroupingEn works in cfarCfg?

Part Number: AWRL1432BOOST-BSD


Tool/software:

We tested peakGrouping on and off

The target is moving towards the radar from about 40 meters in front of the radar.
Record detection and tracking points.

As shown in the picture:
The blue dot is the target detection point
The yellow dot is the target tracking point

The left picture shows peakGrouping turned on. 

The right picture shows peakGrouping turned off.

We found that if peakGrouping is turned on, the target object we want to track is difficult to track.
If it is closed, the target is easier to track.


So I want to try to understand how it works, but from the SDK code, it seems that I can't find the method.

Can TI explain it to me?
And where can I adjust the parameters of peakGrouping?