Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / ao-tools / lib / cc-process.c

diff --git a/ao-tools/lib/cc-process.c b/ao-tools/lib/cc-process.c
index e906b63546fd04125b2f35ebc65ca32b7c17571d..5c1acc6bd203384028b737596a4545d4860a72c7 100644 (file)
--- a/ao-tools/lib/cc-process.c
+++ b/ao-tools/lib/cc-process.c
@@ -33,8 +33,6 @@ cook_timed(struct cc_timedata *td, struct cc_perioddata *pd,
        free (filtered);
        free (unfiltered->data);
        free (unfiltered);
-       free (td->data);
-       free (td);
 }
 
 static double
@@ -93,11 +91,15 @@ cc_flight_cook(struct cc_flightraw *raw)
        } else {
                flight_stop = raw->accel.data[raw->accel.num-1].time;
        }
+       cooked->flight_start = flight_start;
+       cooked->flight_stop = flight_stop;
 
        /* Integrate the accelerometer data to get speed and position */
        accel = cc_timedata_convert(&raw->accel, cc_accelerometer_to_acceleration, raw->ground_accel);
-       accel_speed = cc_timedata_integrate(accel);
-       accel_pos = cc_timedata_integrate(accel_speed);
+       cooked->accel = *accel;
+       free(accel);
+       accel_speed = cc_timedata_integrate(&cooked->accel, flight_start - 10, flight_stop);
+       accel_pos = cc_timedata_integrate(accel_speed, flight_start - 10, flight_stop);
 
 #define ACCEL_OMEGA_PASS       (2 * M_PI * 5 / 100)
 #define ACCEL_OMEGA_STOP       (2 * M_PI * 8 / 100)
@@ -105,20 +107,24 @@ cc_flight_cook(struct cc_flightraw *raw)
 #define BARO_OMEGA_STOP                (2 * M_PI * 1 / 100)
 #define FILTER_ERROR           (1e-8)
 
-       cook_timed(accel, &cooked->accel_accel,
+       cook_timed(&cooked->accel, &cooked->accel_accel,
                   flight_start, flight_stop,
                   ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
        cook_timed(accel_speed, &cooked->accel_speed,
                   flight_start, flight_stop,
                   ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
+       free(accel_speed->data); free(accel_speed);
        cook_timed(accel_pos, &cooked->accel_pos,
                   flight_start, flight_stop,
                   ACCEL_OMEGA_PASS, ACCEL_OMEGA_STOP, FILTER_ERROR);
+       free(accel_pos->data); free(accel_pos);
 
        /* Filter the pressure data */
        pres = cc_timedata_convert(&raw->pres, barometer_to_altitude,
                                   cc_barometer_to_altitude(raw->ground_pres));
-       cook_timed(pres, &cooked->pres_pos,
+       cooked->pres = *pres;
+       free(pres);
+       cook_timed(&cooked->pres, &cooked->pres_pos,
                   flight_start, flight_stop,
                   BARO_OMEGA_PASS, BARO_OMEGA_STOP, FILTER_ERROR);
        /* differentiate twice to get to acceleration */
@@ -138,3 +144,23 @@ cc_flight_cook(struct cc_flightraw *raw)
        cooked->state.time_offset = raw->state.time_offset;
        return cooked;
 }
+
+#define if_free(x)     ((x) ? free(x) : (void) 0)
+
+void
+cc_flightcooked_free(struct cc_flightcooked *cooked)
+{
+       if_free(cooked->accel_accel.data);
+       if_free(cooked->accel_speed.data);
+       if_free(cooked->accel_pos.data);
+       if_free(cooked->pres_pos.data);
+       if_free(cooked->pres_speed.data);
+       if_free(cooked->pres_accel.data);
+       if_free(cooked->gps_lat.data);
+       if_free(cooked->gps_lon.data);
+       if_free(cooked->gps_alt.data);
+       if_free(cooked->state.data);
+       if_free(cooked->accel.data);
+       if_free(cooked->pres.data);
+       free(cooked);
+}