altosui: Integrate accel speed from very start of eeprom record

[fw/altos] / altosui / AltosEepromIterable.java

diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java
index d8205816b2674bffa20f7934b7a421505c6f8e8b..6fdaf8e04949cf6b85319647ad049acacabdc7fd 100644 (file)
--- a/altosui/AltosEepromIterable.java
+++ b/altosui/AltosEepromIterable.java
@@ -99,6 +99,7 @@ public class AltosEepromIterable extends AltosRecordIterable {
                double  ground_pres;
                int     gps_tick;
                int     boost_tick;
+               int     sensor_tick;
 
                EepromState() {
                        seen = 0;
@@ -128,10 +129,13 @@ public class AltosEepromIterable extends AltosRecordIterable {
                                state.flight_pres = state.ground_pres;
                        } else {
                                state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
-                               state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
-                               state.flight_vel += (state.accel_plus_g - state.accel);
                        }
+                       state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+                       if ((eeprom.seen & seen_sensor) == 0)
+                               eeprom.sensor_tick = record.tick - 1;
+                       state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
                        eeprom.seen |= seen_sensor;
+                       eeprom.sensor_tick = record.tick;
                        has_accel = true;
                        break;
                case Altos.AO_LOG_PRESSURE: