X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=parse;h=47f3ced25d5ab2d26377fdd57d7314900cee181a;hb=e52c7adee3352aea6389b4f1fb8d84aa6bf40ceb;hp=e58defe8ddf190c63d481c3aa0315d6780936304;hpb=eca97555fc3cef064f14bd8a94ecc038b38b1268;p=fw%2Ftmflights

diff --git a/parse b/parse
index e58defe..47f3ced 100755
--- a/parse
+++ b/parse
@@ -200,10 +200,14 @@ read_record(file in) {
 }
 
 real g_count = 264.8;
+#real g_count = 262;
+#real g_count = 400;
+int g_base = 15735;
+
 real
 count_to_g(real count)
 {
-	return (15792 + g_count - count) / g_count;
+	return (g_base + g_count - count) / g_count;
 }
 
 real base_alt = 0;
@@ -221,7 +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];
@@ -237,7 +241,7 @@ real[...] convolve(real[...] d, real[...] e) {
 
 real sum(real[...] x) { real s = 0; for(int i = 0; i < dim(x); i++) s += x[i]; return s; }
 
-real[...] filter(real[...] d, int half_width) {
+real[...] kaiser_filter(real[...] d, int half_width) {
 #	real[half_width * 2 + 1] fir = { [n] = sinc(2 * pi * n / (2 * half_width)) };
 	real M = half_width * 2 + 1;
 	real[M] fir = { [n] = kaiser(n, M, 8) };
@@ -246,16 +250,35 @@ real[...] filter(real[...] d, int half_width) {
 	return convolve(d, fir);
 }
 
+int[...] int_filter(int[...] d, int shift) {
+	/* Emulate the exponential IIR filter used in the TeleMetrum flight
+	software */
+
+	int	v = d[0];
+	int	n;
+	int[dim(d)] ret;
+
+	for (n = 0; n < dim(d); n++) {
+		v -= (v + (1 << (shift - 1))) >> shift;
+		v += (d[n] + (1 << (shift - 1))) >> shift;
+		ret[n] = v;
+	}
+	return ret;
+}
+
 real gravity = 9.80665;
 
-real[...] pressure_value, accelerometer_value;
+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;
@@ -264,38 +287,188 @@ void readsamples(file in) {
 	}
 }
 
-readsamples(stdin);
+typedef struct {
+	int	time;
+	int	accel;
+	int	pressure;
+	string	state;
+} telem_record;
 
-int size = dim(accelerometer_value);
-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;
+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++;
+		}
+	}
 }
 
-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];
+readsamples_log(stdin);
+
+int[...] int_integrate(int[...] d, int base) {
+	int v = 0;
+	int[dim(d)] ret;
+
+	ret[0] = 0;
+	for (int i = 1; i < dim(d); i++)
+		ret[i] = (v += (d[i-1] + d[i] + 1) // 2);
 	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]);
+int[...] int_differentiate(int[...] d) {
+	return (int[dim(d)]) { [n] = n == 0 ? 0 : d[n] - d[n-1] };
+}
+
+int average(int[...] d, int n) {
+	int	sum = 0;
+	for (int i = 0; i < n; i++)
+		sum += d[n];
+	return sum // n;
+}
+
+int[...] rebase(int[...] d, int m, int a) = (int[dim(d)]) { [n] = d[n] * m + a };
+
+int size = dim(accelerometer_value);
+
+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);
+}
+
+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]);
+}