Airfest 2013: Bdale's new airframe on Loki M with TMv1 and Tmega

[fw/tmflights] / parse

diff --git a/parse b/parse
index 97344d32a39b0c6240e8917c7276468c23926d32..47f3ced25d5ab2d26377fdd57d7314900cee181a 100755 (executable)
--- 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
@@ -224,7 +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];
@@ -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]),
@@ -309,9 +314,14 @@ telem_record read_telem(file in) {
 }
 
 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 = {};
        
@@ -328,20 +338,32 @@ void readsamples_telem(file in) {
                accel_total += save[i].accel;
        g_base = accel_total // start;
 
-       for (int i = start; i < dim(save); i++) {
-               clock[dim(clock)] = save[i].time/100;
-               pressure_value[dim(pressure_value)] = save[i].pressure;
-               accelerometer_value[dim(accelerometer_value)] = save[i].accel;
-       }
-       
+       for (int i = start; i < dim(save); i++)
+               telem[dim(telem)] = save[i];
+
        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;
-               pressure_value[dim(pressure_value)] = t.pressure;
-               accelerometer_value[dim(accelerometer_value)] = t.accel;
+               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++;
+               }
        }
 }
 
@@ -372,6 +394,12 @@ 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);
@@ -397,8 +425,14 @@ if (false) {
 } 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 = kaiser_filter(accelerometer, 8);
-       real[size] filtered_barometer = kaiser_filter(barometer, 32);
+       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;
@@ -415,7 +449,7 @@ 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);