X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Flib%2Fcc-process.c;h=c756b57028a5dd3a9a8f787867b4ec2eee53b354;hp=e906b63546fd04125b2f35ebc65ca32b7c17571d;hb=c83615567b4567f3dc45a7f7b894943b45fbb65c;hpb=d42ebf0661ecf15455e5051de1e16ae66f8dd857

diff --git a/ao-tools/lib/cc-process.c b/ao-tools/lib/cc-process.c
index e906b635..c756b570 100644
--- 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
@@ -72,7 +70,7 @@ cc_flight_cook(struct cc_flightraw *raw)
 	 */
 	for (i = 0; i < raw->state.num; i++) {
 		if (!start_set && raw->state.data[i].value > ao_flight_pad) {
-			flight_start = raw->state.data[i].time;
+			flight_start = raw->state.data[i].time - 10;
 			start_set = 1;
 		}
 		if (!stop_set && raw->state.data[i].value > ao_flight_main) {
@@ -81,7 +79,7 @@ cc_flight_cook(struct cc_flightraw *raw)
 		}
 	}
 
-	if (!start_set)
+	if (!start_set || flight_start < raw->accel.data[0].time)
 		flight_start = raw->accel.data[0].time;
 	if (stop_set) {
 		for (i = 0; i < raw->accel.num - 1; i++) {
@@ -93,32 +91,40 @@ 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)
+#define ACCEL_OMEGA_PASS	(2 * M_PI * 20 / 100)
+#define ACCEL_OMEGA_STOP	(2 * M_PI * 30 / 100)
 #define BARO_OMEGA_PASS		(2 * M_PI * .5 / 100)
 #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);
+}