free (filtered);
free (unfiltered->data);
free (unfiltered);
- free (td->data);
- free (td);
}
static double
} else {
flight_stop = raw->accel.data[raw->accel.num-1].time;
}
+ cooked->flight_start = flight_start;
+ cooked->flight_stop = flight_stop;
/* Integrate the accelerometer data to get speed and position */
accel = cc_timedata_convert(&raw->accel, cc_accelerometer_to_acceleration, raw->ground_accel);
- accel_speed = cc_timedata_integrate(accel);
- accel_pos = cc_timedata_integrate(accel_speed);
+ cooked->accel = *accel;
+ free(accel);
+ accel_speed = cc_timedata_integrate(&cooked->accel, flight_start - 10, flight_stop);
+ accel_pos = cc_timedata_integrate(accel_speed, flight_start - 10, flight_stop);
#define ACCEL_OMEGA_PASS (2 * M_PI * 5 / 100)
#define ACCEL_OMEGA_STOP (2 * M_PI * 8 / 100)
#define BARO_OMEGA_STOP (2 * M_PI * 1 / 100)
#define FILTER_ERROR (1e-8)
- cook_timed(accel, &cooked->accel_accel,
+ cook_timed(&cooked->accel, &cooked->accel_accel,
flight_start, flight_stop,
ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
cook_timed(accel_speed, &cooked->accel_speed,
flight_start, flight_stop,
ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
+ free(accel_speed->data); free(accel_speed);
cook_timed(accel_pos, &cooked->accel_pos,
flight_start, flight_stop,
ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
+ free(accel_pos->data); free(accel_pos);
/* Filter the pressure data */
pres = cc_timedata_convert(&raw->pres, barometer_to_altitude,
cc_barometer_to_altitude(raw->ground_pres));
- cook_timed(pres, &cooked->pres_pos,
+ cooked->pres = *pres;
+ free(pres);
+ cook_timed(&cooked->pres, &cooked->pres_pos,
flight_start, flight_stop,
BARO_OMEGA_PASS, BARO_OMEGA_STOP, FILTER_ERROR);
/* differentiate twice to get to acceleration */
if_free(cooked->gps_lon.data);
if_free(cooked->gps_alt.data);
if_free(cooked->state.data);
+ if_free(cooked->accel.data);
+ if_free(cooked->pres.data);
free(cooked);
}