}
real g_count = 264.8;
+#real g_count = 262;
+#real g_count = 400;
int g_base = 15735;
real
int[...] pressure_value, accelerometer_value;
real[...] clock;
-void readsamples(file in) {
+void readsamples_log(file in) {
setdim(pressure_value, 0);
setdim(accelerometer_value, 0);
while (!File::end(in)) {
flight_record r = read_record(in);
+ if (r.type == 'F') {
+ g_base = r.a;
+ }
if (r.type == 'A') {
clock[dim(clock)] = r.time / 100;
pressure_value[dim(pressure_value)] = r.b;
}
}
-readsamples(stdin);
+typedef struct {
+ int time;
+ int accel;
+ int pressure;
+ string state;
+} telem_record;
+
+autoimport String;
+
+telem_record read_telem(file in) {
+ string[*] r = wordsplit(chomp(fgets(in)), " ");
+ static int line = 0;
+
+ line++;
+ if (dim(r) < 15) {
+ printf ("invalid record line %d\n", line);
+ return read_telem(in);
+ }
+ return (telem_record) {
+ .time = string_to_integer(r[10]),
+ .accel = string_to_integer(r[12]),
+ .pressure = string_to_integer(r[14]),
+ .state = r[9]
+ };
+}
+
+void readsamples_telem(file in) {
+ setdim(clock, 0);
+ setdim(pressure_value, 0);
+ setdim(accelerometer_value, 0);
+ real clock_bias = 0;
+
+ telem_record[...] save = {};
+
+ setdim(save, 0);
+ while (!File::end(in)) {
+ save[dim(save)] = read_telem(in);
+ if (save[dim(save)-1].state == "boost")
+ break;
+ }
+ int start = dim(save) - 4;
+
+ int accel_total = 0;
+ for (int i = 0; i < start; i++)
+ accel_total += save[i].accel;
+ g_base = accel_total // start;
+
+ for (int i = start; i < dim(save); i++) {
+ clock[dim(clock)] = save[i].time/100;
+ pressure_value[dim(pressure_value)] = save[i].pressure;
+ accelerometer_value[dim(accelerometer_value)] = save[i].accel;
+ }
+
+ while (!File::end(in)) {
+ telem_record t = read_telem(in);
+ int n = dim(clock);
+ real sample_time = t.time / 100 + clock_bias;
+ if (n > 0 && sample_time < clock[n-1]) {
+ clock_bias += 65536 / 100;
+ sample_time += 65536 / 100;
+ }
+ clock[n] = sample_time;
+ pressure_value[dim(pressure_value)] = t.pressure;
+ accelerometer_value[dim(accelerometer_value)] = t.accel;
+ }
+}
+
+readsamples_telem(stdin);
int[...] int_integrate(int[...] d, int base) {
int v = 0;
int[...] rebase(int[...] d, int m, int a) = (int[dim(d)]) { [n] = d[n] * m + a };
-accelerometer_value = rebase(accelerometer_value, -1, g_base);
int size = dim(accelerometer_value);
-int accel_i0_base = average(accelerometer_value, 30);
-int[size] pres_d0 = int_filter(pressure_value, 4);
-int[size] accel_i0 = int_filter(accelerometer_value, 4);
-int[size] pres_d1 = int_filter(int_differentiate(pres_d0), 4);
-int[size] accel_i1 = int_integrate(accelerometer_value, accel_i0_base);
-int[size] pres_d2 = int_filter(int_differentiate(pres_d1), 4);
-int[size] accel_i2 = int_integrate(accel_i1, 0);
-
-real count_to_altitude(int count) = pressure_to_altitude(count_to_kPa(count / 16) * 1000);
-
-for (int i = 0; i < size; i++)
- printf("%g %g %g %g %g %g %g %g %g\n",
- clock[i] - clock[0],
- count_to_altitude(pres_d0[i]) - count_to_altitude(pres_d0[0]), accel_i2[i] / 10000 / g_count * gravity,
- pres_d1[i] * 100, accel_i1[i] / 100 / g_count * gravity,
- pres_d2[i] * 10000, accel_i0[i] / g_count * gravity,
- count_to_altitude(pressure_value[i]) -
- count_to_altitude(pressure_value[0]), accelerometer_value[i]
- / g_count * gravity);
-
-exit(0);
-
-real[size] accelerometer = { [n] = gravity * (count_to_g(accelerometer_value[n]) - 1.0) };
-real[size] barometer = { [n] = pressure_to_altitude(count_to_kPa(pressure_value[n] / 16) * 1000) };
-real[size] filtered_accelerometer = filter(accelerometer, 8);
-real[size] filtered_barometer = filter(barometer, 128);
-
-real[...] integrate(real[...] d) {
- real[dim(d)] ret;
- for (int i = 0; i < dim(ret); i++)
- ret[i] = i == 0 ? 0 : ret[i-1] + (d[i-1] + d[i]) / 2 * (clock[i] - clock[i-1]);
- return ret;
-}
-real[...] differentiate(real[...] d) {
- real[dim(d)] ret;
- for (int i = 1; i < dim(ret); i++)
- ret[i] = (d[i] - d[i-1]) / (clock[i] - clock[i-1]);
- ret[0] = ret[1];
- return ret;
-}
+if (false) {
+ accelerometer_value = rebase(accelerometer_value, -1, g_base);
+ int accel_i0_base = average(accelerometer_value, 30);
+ int[size] pres_d0 = int_filter(pressure_value, 4);
+ int[size] accel_i0 = int_filter(accelerometer_value, 4);
+ int[size] pres_d1 = int_filter(int_differentiate(pres_d0), 4);
+ int[size] accel_i1 = int_integrate(accelerometer_value, accel_i0_base);
+ int[size] pres_d2 = int_filter(int_differentiate(pres_d1), 4);
+ int[size] accel_i2 = int_integrate(accel_i1, 0);
+
+ real count_to_altitude(int count) = pressure_to_altitude(count_to_kPa(count / 16) * 1000);
+
+ for (int i = 0; i < size; i++)
+ printf("%g %g %g %g %g %g %g %g %g\n",
+ clock[i] - clock[0],
+ count_to_altitude(pres_d0[i]) - count_to_altitude(pres_d0[0]), accel_i2[i] / 10000 / g_count * gravity,
+ pres_d1[i] * 100, accel_i1[i] / 100 / g_count * gravity,
+ pres_d2[i] * 10000, accel_i0[i] / g_count * gravity,
+ count_to_altitude(pressure_value[i]) -
+ count_to_altitude(pressure_value[0]), accelerometer_value[i]
+ / g_count * gravity);
+
+} else {
+ real[size] accelerometer = { [n] = gravity * (count_to_g(accelerometer_value[n]) - 1.0) };
+ real[size] barometer = { [n] = pressure_to_altitude(count_to_kPa(pressure_value[n] / 16) * 1000) };
+ real[size] filtered_accelerometer = kaiser_filter(accelerometer, 8);
+ real[size] filtered_barometer = kaiser_filter(barometer, 16);
+
+ real[...] integrate(real[...] d) {
+ real[dim(d)] ret;
+ for (int i = 0; i < dim(ret); i++)
+ ret[i] = i == 0 ? 0 : ret[i-1] + (d[i-1] + d[i]) / 2 * (clock[i] - clock[i-1]);
+ return ret;
+ }
-real[size] accel_speed = integrate(filtered_accelerometer);
-real[size] accel_pos = integrate(accel_speed);
-real[size] baro_speed = differentiate(filtered_barometer);
-real[size] baro_accel = differentiate(baro_speed);
-
-for (int i = 0; i < size; i++)
- printf("%g %g %g %g %g %g %g %g %g\n",
- clock[i] - clock[0],
- filtered_barometer[i] - filtered_barometer[0], accel_pos[i],
- baro_speed[i], accel_speed[i],
- baro_accel[i], filtered_accelerometer[i],
- barometer[i] - barometer[0], accelerometer[i]);
+ real[...] differentiate(real[...] d) {
+ real[dim(d)] ret;
+ for (int i = 1; i < dim(ret); i++)
+ ret[i] = (d[i] - d[i-1]) / (clock[i] - clock[i-1]);
+ ret[0] = ret[1];
+ return ret;
+ }
+
+ real[size] accel_speed = integrate(accelerometer);
+ real[size] accel_pos = integrate(accel_speed);
+ real[size] baro_speed = differentiate(filtered_barometer);
+ real[size] baro_accel = differentiate(baro_speed);
+
+ printf("%7s %12s %12s %12s %12s %12s %12s %12s %12s\n",
+ "time",
+ "height(baro)",
+ "height(accel)",
+ "speed(baro)",
+ "speed(accel)",
+ "accel(baro)",
+ "accel(accel)",
+ "raw(baro)",
+ "raw(accel)");
+ for (int i = 0; i < size; i++)
+ printf("%7.2f %12.6f %12.6f %12.6f %12.6f %12.6f %12.6f %12.6f %12.6f\n",
+ clock[i] - clock[0],
+ filtered_barometer[i] - filtered_barometer[0], accel_pos[i],
+ baro_speed[i], accel_speed[i],
+ baro_accel[i], filtered_accelerometer[i],
+ barometer[i] - barometer[0], accelerometer[i]);
+}