X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=parse;h=47f3ced25d5ab2d26377fdd57d7314900cee181a;hb=e32c00fbbc42dfb6c9057a98daffa8955f86181e;hp=849ab214f4aacba9536e51f32283bb915d9375bc;hpb=824d1bd68116c8ec2c69597115f2ab22553bdd71;p=fw%2Ftmflights

diff --git a/parse b/parse
index 849ab21..47f3ced 100755
--- a/parse
+++ b/parse
@@ -200,6 +200,8 @@ read_record(file in) {
 }
 
 real g_count = 264.8;
+#real g_count = 262;
+#real g_count = 400;
 int g_base = 15735;
 
 real
@@ -223,7 +225,7 @@ real sinc(real x) = x != 0 ? sin(x)/x : 1;
 
 real gaussian(real x) = exp(-(x**2)/2) / sqrt(2 * pi);
 
-load "/usr/share/nickle/examples/kaiser.5c"
+load "filter.5c"
 
 real[...] convolve(real[...] d, real[...] e) {
 	real sample(n) = n < 0 ? d[0] : n >= dim(d) ? d[dim(d)-1] : d[n];
@@ -269,11 +271,14 @@ real gravity = 9.80665;
 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;
@@ -282,7 +287,87 @@ void readsamples(file in) {
 	}
 }
 
-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) {
+	telem_record[...] telem;
+
+	setdim(telem, 0);
+
+	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++)
+		telem[dim(telem)] = save[i];
+
+	while (!File::end(in)) {
+		int n = dim(telem);
+		telem[n] = read_telem(in);
+		telem[n].time += clock_bias;
+		if (n > 0 && telem[n].time < telem[n-1].time) {
+			clock_bias += 65536;
+			telem[n].time += 65536;
+		}
+	}
+	int clock_start = telem[0].time;
+	int clock_end = telem[dim(telem)-1].time;
+	int samples = clock_end - clock_start;
+
+	int j = 0;
+	for (int i = 0; i < samples; i++) {
+		clock[i] = i / 100;
+		pressure_value[i] = telem[j].pressure;
+		accelerometer_value[i] = telem[j].accel;
+		if (j < dim(telem)-1) {
+			int cur_time = clock_start + i;
+			if (cur_time - telem[j].time > telem[j+1].time - cur_time)
+				j++;
+		}
+	}
+}
+
+readsamples_log(stdin);
 
 int[...] int_integrate(int[...] d, int base) {
 	int v = 0;
@@ -307,59 +392,83 @@ int average(int[...] d, int n) {
 
 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;
+real[...] do_low_pass(real[] data, real ωpass, real ωstop, real error) {
+	real[*] fir = low_pass_filter (ωpass, ωstop, error);
+	File::fprintf (stderr, "low pass filter is %d long\n", dim(fir));
+	return convolve(data, fir);
 }
 
-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]);
+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 = do_low_pass(accelerometer,
+							2 * π * 5/100,
+							2 * π * 8/100,
+							1e-8);
+	real[size] filtered_barometer = do_low_pass(barometer,
+						    2 * π * .5 / 100,
+						    2 * π * 1 / 100,
+						    1e-8);
+
+	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;
+	}
+
+	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]);
+}