Integrate raw accel data. Read whole telem file

diff --git a/parse b/parse
index b4a262c24ac604fb9eca92f94d3cfae8c32270bd..7593b386d6503d5ef9fd5471f2c9755c8c25f013 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
@@ -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);