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

7 files changed, 196 insertions, 50 deletions

diff --git a/ao-tools/ao-postflight/ao-postflight.1 b/ao-tools/ao-postflight/ao-postflight.1
index fe02587f..eca4bb34 100644
--- a/ao-tools/ao-postflight/ao-postflight.1
+++ b/ao-tools/ao-postflight/ao-postflight.1
@@ -21,9 +21,31 @@
 ao-postflight \- Analyse a flight log (either telemetry or eeprom)
 .SH SYNOPSIS
 .B "ao-postflight"
+[\-s <summary-file>]
+[\--summary=<summary-file>]
+[\-d <detail-file>]
+[\--detail=<detail-file>]
+[\-r <raw-file>]
+[\--raw=<raw-file>]
+[\-p <plot-file>]
+[\--plot=<plot-file>]
 {flight.eeprom|flight.telem}
 .SH DESCRIPTION
 .I ao-postflight
-reads the specified flight log and produces a summary of the flight on stdout.
+reads the specified flight log and produces several different kinds of
+output.
+.IP Summary
+By default, summary information is shown on stdout. With the --summary
+option, it can be redirected to a file.
+.IP Detail
+When requested with the --detail option, a filtered version of the
+flight position, speed and acceleration are written to the specified
+file.
+.IP Raw
+The --raw option writes the unfiltered, but converted acceleration
+and height data to the specified file.
+.IP Plot
+The --plot option writes plots of height, speed and acceleration to
+the specified file in .svg format
 .SH AUTHOR
 Keith Packard
diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index bc6638e9..1e6ac744 100644
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -39,9 +39,19 @@ static const char *state_names[] = {
 	"invalid"
 };
 
+static int plot_colors[3][3] = {
+	{ 0, 0x90, 0 },	/* height */
+	{ 0xa0, 0, 0 },	/* speed */
+	{ 0, 0, 0xc0 },	/* accel */
+};
+
+#define PLOT_HEIGHT	0
+#define PLOT_SPEED	1
+#define PLOT_ACCEL	2
+
 static void
 plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
-		double min_time, double max_time)
+		double min_time, double max_time, int plot_type)
 {
 	double	*times;
 	double	ymin, ymax;
@@ -60,11 +70,61 @@ plot_perioddata(struct cc_perioddata *d, char *axis_label, char *plot_label,
 	ymax_i = cc_perioddata_max(d, min_time, max_time);
 	ymin = d->data[ymin_i];
 	ymax = d->data[ymax_i];
+	plscol0(1, 0, 0, 0);
+	plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
+	plcol0(1);
 	plenv(times[0], times[stop-start],
 	      ymin, ymax, 0, 2);
-	plcol0(1);
 	pllab("Time", axis_label, plot_label);
+	plcol0(2);
 	plline(stop - start + 1, times, d->data + start);
+	free(times);
+}
+
+static void
+plot_timedata(struct cc_timedata *d, char *axis_label, char *plot_label,
+	      double min_time, double max_time, int plot_type)
+{
+	double	*times;
+	double	*values;
+	double	ymin, ymax;
+	int	ymin_i, ymax_i;
+	int	i;
+	int	start = -1, stop = -1;
+	double	start_time = 0, stop_time = 0;
+	int	num;
+
+	for (i = 0; i < d->num; i++) {
+		if (start < 0 && d->data[i].time >= min_time) {
+			start_time = d->data[i].time;
+			start = i;
+		}
+		if (d->data[i].time <= max_time) {
+			stop_time = d->data[i].time;
+			stop = i;
+		}
+	}
+
+	times = calloc(stop - start + 1, sizeof (double));
+	values = calloc(stop - start + 1, sizeof (double));
+
+	ymin_i = cc_timedata_min(d, min_time, max_time);
+	ymax_i = cc_timedata_max(d, min_time, max_time);
+	ymin = d->data[ymin_i].value;
+	ymax = d->data[ymax_i].value;
+	for (i = start; i <= stop; i++) {
+		times[i-start] = (d->data[i].time - start_time)/100.0;
+		values[i-start] = d->data[i].value;
+	}
+	plscol0(1, 0, 0, 0);
+	plscol0(2, plot_colors[plot_type][0],  plot_colors[plot_type][1],  plot_colors[plot_type][2]);
+	plcol0(1);
+	plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
+	pllab("Time", axis_label, plot_label);
+	plcol0(2);
+	plline(stop - start + 1, times, values);
+	free(times);
+	free(values);
 }
 
 static struct cc_perioddata *
@@ -102,7 +162,7 @@ merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split
 }
 
 static void
-analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, char *plot_name)
+analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name)
 {
 	double	height;
 	double	accel;
@@ -241,6 +301,17 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, ch
 			       time, pos, speed, accel);
 		}
 	}
+	if (raw_file) {
+		fprintf(raw_file, "%9s %9s %9s\n",
+		       "time", "height", "accel");
+		for (i = 0; i < cooked->pres.num; i++) {
+			double time = cooked->pres.data[i].time;
+			double pres = cooked->pres.data[i].value;
+			double accel = cooked->accel.data[i].value;
+			fprintf(raw_file, "%9.2f %9.2f %9.2f %9.2f\n",
+				time, pres, accel);
+		}
+	}
 	if (cooked && plot_name) {
 		struct cc_perioddata	*speed;
 		plsdev("svgcairo");
@@ -252,12 +323,20 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, ch
 		plstar(2, 3);
 		speed = merge_data(&cooked->accel_speed, &cooked->pres_speed, apogee);
 
-		plot_perioddata(&cooked->pres_pos, "meters", "Height", -1e10, 1e10);
-		plot_perioddata(&cooked->pres_pos, "meters", "Height", boost_start, apogee);
-		plot_perioddata(speed, "meters/second", "Speed", -1e10, 1e10);
-		plot_perioddata(speed, "meters/second", "Speed", boost_start, apogee);
-		plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", -1e10, 1e10);
-		plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", boost_start, apogee);
+		plot_perioddata(&cooked->pres_pos, "meters", "Height",
+				-1e10, 1e10, PLOT_HEIGHT);
+		plot_perioddata(&cooked->pres_pos, "meters", "Height to Apogee",
+				boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_HEIGHT);
+		plot_perioddata(speed, "meters/second", "Speed",
+				-1e10, 1e10, PLOT_SPEED);
+		plot_perioddata(speed, "meters/second", "Speed to Apogee",
+				boost_start, apogee + (apogee - boost_start) / 10.0, PLOT_SPEED);
+		plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration",
+				-1e10, 1e10, PLOT_ACCEL);
+/*		plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration during Boost",
+		boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL); */
+		plot_timedata(&cooked->accel, "meters/second²", "Acceleration during Boost",
+				boost_start, boost_stop + (boost_stop - boost_start) / 2.0, PLOT_ACCEL);
 		free(speed->data);
 		free(speed);
 		plend();
@@ -270,12 +349,18 @@ static const struct option options[] = {
 	{ .name = "summary", .has_arg = 1, .val = 's' },
 	{ .name = "detail", .has_arg = 1, .val = 'd' },
 	{ .name = "plot", .has_arg = 1, .val = 'p' },
+	{ .name = "raw", .has_arg = 1, .val = 'r' },
 	{ 0, 0, 0, 0},
 };
 
 static void usage(char *program)
 {
-	fprintf(stderr, "usage: %s [--summary=<summary-file>] [--detail=<detail-file] [--plot=<plot-file>] {flight-log} ...\n", program);
+	fprintf(stderr, "usage: %s\n"
+		"\t[--summary=<summary-file>] [-s <summary-file>]\n"
+		"\t[--detail=<detail-file] [-d <detail-file>]\n"
+		"\t[--raw=<raw-file> -r <raw-file]\n"
+		"\t[--plot=<plot-file> -p <plot-file>]\n"
+		"\t{flight-log} ...\n", program);
 	exit(1);
 }
 
@@ -283,18 +368,21 @@ int
 main (int argc, char **argv)
 {
 	FILE			*file;
-	FILE			*summary_file;
-	FILE			*detail_file;
+	FILE			*summary_file = NULL;
+	FILE			*detail_file = NULL;
+	FILE			*raw_file = NULL;
 	int			i;
 	int			ret = 0;
 	struct cc_flightraw	*raw;
 	int			c;
 	int			serial;
 	char			*s;
-	char			*summary_name = NULL, *detail_name = NULL;
+	char			*summary_name = NULL;
+	char			*detail_name = NULL;
+	char			*raw_name = NULL;
 	char			*plot_name = NULL;
 
-	while ((c = getopt_long(argc, argv, "s:d:p:", options, NULL)) != -1) {
+	while ((c = getopt_long(argc, argv, "s:d:p:r:", options, NULL)) != -1) {
 		switch (c) {
 		case 's':
 			summary_name = optarg;
@@ -305,13 +393,15 @@ main (int argc, char **argv)
 		case 'p':
 			plot_name = optarg;
 			break;
+		case 'r':
+			raw_name = optarg;
+			break;
 		default:
 			usage(argv[0]);
 			break;
 		}
 	}
 	summary_file = stdout;
-	detail_file = NULL;
 	if (summary_name) {
 		summary_file = fopen(summary_name, "w");
 		if (!summary_file) {
@@ -330,6 +420,13 @@ main (int argc, char **argv)
 			}
 		}
 	}
+	if (raw_name) {
+		raw_file = fopen (raw_name, "w");
+		if (!raw_file) {
+			perror(raw_name);
+			exit(1);
+		}
+	}
 	for (i = optind; i < argc; i++) {
 		file = fopen(argv[i], "r");
 		if (!file) {
@@ -350,7 +447,7 @@ main (int argc, char **argv)
 		}
 		if (!raw->serial)
 			raw->serial = serial;
-		analyse_flight(raw, summary_file, detail_file, plot_name);
+		analyse_flight(raw, summary_file, detail_file, raw_file, plot_name);
 		cc_flightraw_free(raw);
 	}
 	return ret;
diff --git a/ao-tools/lib/cc-analyse.c b/ao-tools/lib/cc-analyse.c
index cdb16f02..27c416a6 100644
--- a/ao-tools/lib/cc-analyse.c
+++ b/ao-tools/lib/cc-analyse.c
@@ -18,6 +18,20 @@
 #include "cc.h"
 #include <math.h>
 
+void
+cc_timedata_limits(struct cc_timedata *d, double min_time, double max_time, int *start, int *stop)
+{
+	int	i;
+
+	*start = -1;
+	for (i = 0; i < d->num; i++) {
+		if (*start < 0 && min_time <= d->data[i].time)
+			*start = i;
+		if (d->data[i].time <= max_time)
+			*stop = i;
+	}
+}
+
 int
 cc_timedata_min(struct cc_timedata *d, double min_time, double max_time)
 {
diff --git a/ao-tools/lib/cc-integrate.c b/ao-tools/lib/cc-integrate.c
index f9793dcd..ba50761b 100644
--- a/ao-tools/lib/cc-integrate.c
+++ b/ao-tools/lib/cc-integrate.c
@@ -37,24 +37,27 @@ cc_timedata_convert(struct cc_timedata *d, double (*f)(double v, double a), doub
 }
 
 struct cc_timedata *
-cc_timedata_integrate(struct cc_timedata *d)
+cc_timedata_integrate(struct cc_timedata *d, double min_time, double max_time)
 {
 	struct cc_timedata	*i;
-	int			n;
+	int			n, m;
+	int			start, stop;
 
+	cc_timedata_limits(d, min_time, max_time, &start, &stop);
 	i = calloc (1, sizeof (struct cc_timedata));
-	i->num = d->num;
-	i->size = d->num;
+	i->num = stop - start + 1;
+	i->size = i->num;
 	i->data = calloc (i->size, sizeof (struct cc_timedataelt));
-	i->time_offset = d->time_offset;
-	for (n = 0; n < d->num; n++) {
-		i->data[n].time = d->data[n].time;
+	i->time_offset = d->data[start].time;
+	for (n = 0; n < i->num; n++) {
+		m = n + start;
+		i->data[n].time = d->data[m].time;
 		if (n == 0) {
 			i->data[n].value = 0;
 		} else {
 			i->data[n].value = i->data[n-1].value +
-				(d->data[n].value + d->data[n-1].value) / 2 *
-				((d->data[n].time - d->data[n-1].time) / 100.0);
+				(d->data[m].value + d->data[m-1].value) / 2 *
+				((d->data[m].time - d->data[m-1].time) / 100.0);
 		}
 	}
 	return i;
diff --git a/ao-tools/lib/cc-period.c b/ao-tools/lib/cc-period.c
index c74cf9dc..844ac79e 100644
--- a/ao-tools/lib/cc-period.c
+++ b/ao-tools/lib/cc-period.c
@@ -17,35 +17,27 @@
 
 #include "cc.h"
 #include <stdlib.h>
+#include <math.h>
 
 struct cc_perioddata *
 cc_period_make(struct cc_timedata *td, double start_time, double stop_time)
 {
 	int			len = stop_time - start_time + 1;
 	struct cc_perioddata	*pd;
-	int			i;
-	double			prev_time;
-	double			next_time;
-	double			interval;
+	int			i, j;
+	double			t;
 
 	pd = calloc(1, sizeof (struct cc_perioddata));
 	pd->start = start_time;
 	pd->step = 1;
 	pd->num = len;
 	pd->data = calloc(len, sizeof(double));
-	prev_time = start_time;
-	for (i = 0; i < td->num; i++) {
-		if (start_time <= td->data[i].time && td->data[i].time <= stop_time) {
-			int	pos = td->data[i].time - start_time;
-
-			if (i < td->num - 1 && td->data[i+1].time < stop_time)
-				next_time = (td->data[i].time + td->data[i+1].time) / 2.0;
-			else
-				next_time = stop_time;
-			interval = next_time - prev_time;
-			pd->data[pos] = td->data[i].value * interval;
-			prev_time = next_time;
-		}
+	j = 0;
+	for (i = 0; i < pd->num; i++) {
+		t = start_time + i * pd->step;
+		while (j < td->num - 1 && fabs(t - td->data[j].time) >= fabs(t - td->data[j+1].time))
+			j++;
+		pd->data[i] = td->data[j].value;
 	}
 	return pd;
 }
diff --git a/ao-tools/lib/cc-process.c b/ao-tools/lib/cc-process.c
index 469ad2f2..5c1acc6b 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
@@ -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 */
@@ -154,5 +160,7 @@ cc_flightcooked_free(struct cc_flightcooked *cooked)
 	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);
 }
diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index 4e9aadc4..01226958 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -142,6 +142,9 @@ void
 cc_flightraw_free(struct cc_flightraw *raw);
 
 struct cc_flightcooked {
+	double			flight_start;
+	double			flight_stop;
+
 	struct cc_perioddata	accel_accel;
 	struct cc_perioddata	accel_speed;
 	struct cc_perioddata	accel_pos;
@@ -151,6 +154,10 @@ struct cc_flightcooked {
 	struct cc_perioddata	gps_lat;
 	struct cc_perioddata	gps_lon;
 	struct cc_perioddata	gps_alt;
+
+	/* unfiltered, but converted */
+	struct cc_timedata	pres;
+	struct cc_timedata	accel;
 	struct cc_timedata	state;
 };
 
@@ -262,6 +269,9 @@ cc_great_circle (double start_lat, double start_lon,
 		 double end_lat, double end_lon,
 		 double *dist, double *bearing);
 
+void
+cc_timedata_limits(struct cc_timedata *d, double min_time, double max_time, int *start, int *stop);
+
 int
 cc_timedata_min(struct cc_timedata *d, double min_time, double max_time);
 
@@ -314,7 +324,7 @@ struct cc_timedata *
 cc_timedata_convert(struct cc_timedata *d, double (*f)(double v, double a), double a);
 
 struct cc_timedata *
-cc_timedata_integrate(struct cc_timedata *d);
+cc_timedata_integrate(struct cc_timedata *d, double min_time, double max_time);
 
 struct cc_perioddata *
 cc_perioddata_differentiate(struct cc_perioddata *i);