From fe458dd5fc2eecdc39f9004883c75335fb21a323 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 22 Jun 2009 09:37:44 -0700 Subject: [PATCH] Integrate raw accel data. Read whole telem file --- parse | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/parse b/parse index b4a262c..7593b38 100755 --- a/parse +++ b/parse @@ -199,8 +199,9 @@ read_record(file in) { return r; } -#real g_count = 264.8; -real g_count = 262; +real g_count = 264.8; +#real g_count = 262; +#real g_count = 400; int g_base = 15735; real @@ -297,9 +298,13 @@ autoimport String; telem_record read_telem(file in) { string[*] r = wordsplit(chomp(fgets(in)), " "); + static int line = 0; - if (dim(r) < 15) + 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]), @@ -312,6 +317,7 @@ void readsamples_telem(file in) { setdim(clock, 0); setdim(pressure_value, 0); setdim(accelerometer_value, 0); + real clock_bias = 0; telem_record[...] save = {}; @@ -336,10 +342,13 @@ void readsamples_telem(file in) { while (!File::end(in)) { telem_record t = read_telem(in); - if (dim(clock) > 0 && - abs(t.time / 100 - clock[dim(clock)-1]) > 500) - break; - clock[dim(clock)] = t.time / 100; + 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; } @@ -415,7 +424,7 @@ if (false) { return ret; } - real[size] accel_speed = integrate(filtered_accelerometer); + 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); -- 2.30.2