altos/altosui: Log averaged baro sensor data in Tm/Tn

Instead of logging the best height guess from the kalman filter, log
barometer data. The logged data consists of the average value betwen
log points to reduce noise.

Signed-off-by: Keith Packard <keithp@keithp.com>

7 files changed, 38 insertions, 15 deletions

diff --git a/altosui/Altos.java b/altosui/Altos.java
index 1f791da5..54aced32 100644
--- a/altosui/Altos.java
+++ b/altosui/Altos.java
@@ -34,7 +34,7 @@ public class Altos {
 	static final int AO_LOG_GPS_ALT = 'H';
 	static final int AO_LOG_GPS_SAT = 'V';
 	static final int AO_LOG_GPS_DATE = 'Y';
-	static final int AO_LOG_HEIGHT = 'h';
+	static final int AO_LOG_PRESSURE = 'P';
 
 	/* Added for header fields in eeprom files */
 	static final int AO_LOG_CONFIG_VERSION = 1000;
diff --git a/altosui/AltosDataPoint.java b/altosui/AltosDataPoint.java
index 66313e03..5e077320 100644
--- a/altosui/AltosDataPoint.java
+++ b/altosui/AltosDataPoint.java
@@ -25,5 +25,6 @@ interface AltosDataPoint {
     double battery_voltage();
     double drogue_voltage();
     double main_voltage();
+    boolean has_accel();
 }
 
diff --git a/altosui/AltosDataPointReader.java b/altosui/AltosDataPointReader.java
index 4335421c..fa48013f 100644
--- a/altosui/AltosDataPointReader.java
+++ b/altosui/AltosDataPointReader.java
@@ -59,6 +59,7 @@ class AltosDataPointReader implements Iterable<AltosDataPoint> {
             public double battery_voltage() { return record.battery_voltage(); }
             public double drogue_voltage() { return record.drogue_voltage(); }
             public double main_voltage() { return record.main_voltage(); }
+	    public boolean has_accel() { return has_accel; }
         };
     }
 
diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java
index fad16460..a42f401c 100644
--- a/altosui/AltosEepromDownload.java
+++ b/altosui/AltosEepromDownload.java
@@ -162,7 +162,8 @@ public class AltosEepromDownload implements Runnable {
 				} else {
 					if (v != 0xffff)
 						any_valid = true;
-					r = new AltosEepromRecord(Altos.AO_LOG_HEIGHT, tiny_tick, v, 0);
+
+					r = new AltosEepromRecord(Altos.AO_LOG_PRESSURE, tiny_tick, 0, v);
 
 					/*
 					 * The flight software records ascent data every 100ms, and descent
diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java
index 624e1dd3..16349b88 100644
--- a/altosui/AltosEepromIterable.java
+++ b/altosui/AltosEepromIterable.java
@@ -134,8 +134,13 @@ public class AltosEepromIterable extends AltosRecordIterable {
 			eeprom.seen |= seen_sensor;
 			has_accel = true;
 			break;
-		case Altos.AO_LOG_HEIGHT:
-			state.height = (short) record.a;
+		case Altos.AO_LOG_PRESSURE:
+			state.pres = record.b;
+			state.flight_pres = state.pres;
+			if (eeprom.n_pad_samples == 0) {
+				eeprom.n_pad_samples++;
+				state.ground_pres = state.pres;
+			}
 			eeprom.seen |= seen_sensor;
 			break;
 		case Altos.AO_LOG_TEMP_VOLT:
diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java
index e98c302b..4b994b47 100644
--- a/altosui/AltosGraphUI.java
+++ b/altosui/AltosGraphUI.java
@@ -35,7 +35,7 @@ public class AltosGraphUI extends JFrame
         AltosGraphTime.Element speed =
             new AltosGraphTime.TimeSeries("Speed (m/s)", "Vertical Speed", green) { 
                 public void gotTimeData(double time, AltosDataPoint d) {
-                    if (d.state() < Altos.ao_flight_drogue) {
+		    if (d.state() < Altos.ao_flight_drogue && d.has_accel()) {
                         series.add(time, d.accel_speed());
                     } else {
                         series.add(time, d.baro_speed());
diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c
index f0c0662a..6c2468fc 100644
--- a/src/ao_log_tiny.c
+++ b/src/ao_log_tiny.c
@@ -44,9 +44,12 @@ static void ao_log_tiny_data(uint16_t d)
 void
 ao_log(void)
 {
-	uint16_t		time;
-	int16_t			delay;
+	uint16_t		last_time;
+	uint16_t		now;
 	enum ao_flight_state	ao_log_tiny_state;
+	int32_t			sum;
+	int16_t			count;
+	uint8_t			ao_log_adc;
 
 	ao_storage_setup();
 
@@ -57,9 +60,19 @@ ao_log(void)
 	while (!ao_log_running)
 		ao_sleep(&ao_log_running);
 
-	time = ao_time();
 	ao_log_tiny_data(ao_flight_number);
+	ao_log_tiny_data(ao_ground_pres);
+	sum = 0;
+	count = 0;
+	ao_log_adc = ao_sample_adc;
+	last_time = ao_time();
 	for (;;) {
+		ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
+		while (ao_log_adc != ao_sample_adc) {
+			sum += ao_adc_ring[ao_log_adc].pres;
+			count++;
+			ao_log_adc = ao_adc_ring_next(ao_log_adc);
+		}
 		if (ao_flight_state != ao_log_tiny_state) {
 			ao_log_tiny_data(ao_flight_state | 0x8000);
 			ao_log_tiny_state = ao_flight_state;
@@ -69,14 +82,16 @@ ao_log(void)
 			if (ao_log_tiny_state == ao_flight_landed)
 				ao_log_stop();
 		}
-		ao_log_tiny_data(ao_height);
-		time += ao_log_tiny_interval;
-		delay = time - ao_time();
-		if (delay > 0)
-			ao_delay(delay);
 		/* Stop logging when told to */
-		while (!ao_log_running)
-			ao_sleep(&ao_log_running);
+		if (!ao_log_running)
+			ao_exit();
+		now = ao_time();
+		if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) {
+			ao_log_tiny_data(sum / count);
+			sum = 0;
+			count = 0;
+			last_time = now;
+		}
 	}
 }