Add DSP code to filter data, allowing for integration/differentiation

This adds the computation of speed from both accelerometer and
barometer measurements and then presents a periodic flight profile
using filtered data as a detailed flight record.

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

1 files changed, 179 insertions, 0 deletions

diff --git a/ao-tools/lib/cmath.h b/ao-tools/lib/cmath.h
new file mode 100644
index 00000000..2751aecf
--- /dev/null
+++ b/ao-tools/lib/cmath.h
@@ -0,0 +1,179 @@
+/*
+ * Grace - GRaphing, Advanced Computation and Exploration of data
+ *
+ * Home page: http://plasma-gate.weizmann.ac.il/Grace/
+ *
+ * Copyright (c) 1991-1995 Paul J Turner, Portland, OR
+ * Copyright (c) 1996-2000 Grace Development Team
+ *
+ * Maintained by Evgeny Stambulchik <fnevgeny@plasma-gate.weizmann.ac.il>
+ *
+ *
+ *                           All Rights Reserved
+ *
+ *    This program is free software; you can redistribute it and/or modify
+ *    it under the terms of the GNU General Public License as published by
+ *    the Free Software Foundation; either version 2 of the License, or
+ *    (at your option) any later version.
+ *
+ *    This program is distributed in the hope that it will be useful,
+ *    but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *    GNU General Public License for more details.
+ *
+ *    You should have received a copy of the GNU General Public License
+ *    along with this program; if not, write to the Free Software
+ *    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+
+/* cmath.h - replacement for math.h or missing in libm functions */
+
+#if defined(HAVE_MATH_H)
+#  include <math.h>
+#endif
+#if defined(HAVE_FLOAT_H)
+#  include <float.h>
+#endif
+#if defined(HAVE_IEEEFP_H)
+#  include <ieeefp.h>
+#endif
+
+#ifndef __GRACE_SOURCE_
+
+#ifndef MACHEP
+extern double MACHEP;
+#endif
+
+#ifndef UFLOWTHRESH
+extern double UFLOWTHRESH;
+#endif
+
+#ifndef MAXNUM
+extern double MAXNUM;
+#endif
+
+#endif /* __GRACE_SOURCE_ */
+
+#ifndef M_PI
+#  define M_PI  3.14159265358979323846
+#endif
+
+#ifndef M_SQRT2
+#  define M_SQRT2     1.41421356237309504880      /* sqrt(2) */
+#endif
+
+#ifndef M_SQRT1_2
+#  define M_SQRT1_2   0.70710678118654752440      /* 1/sqrt(2) */
+#endif
+
+#ifndef M_SQRT1_3
+#  define M_SQRT1_3   0.57735026918962576451      /* 1/sqrt(3) */
+#endif
+
+#ifndef HAVE_HYPOT
+#  define hypot(x, y) sqrt((x)*(x) + (y)*(y))
+#endif
+
+extern double round ( double x );
+#ifndef HAVE_RINT
+#  define rint round
+#else
+#  ifndef HAVE_RINT_DECL
+extern double rint ( double x );
+#  endif
+#endif
+
+#ifndef HAVE_CBRT_DECL
+extern double cbrt ( double x );
+#endif
+
+/* Cygnus gnuwin32 has the log2 macro */
+#ifdef log2
+#  undef log2
+#endif
+
+#ifndef HAVE_LOG2_DECL
+extern double log2 ( double x );
+#endif
+
+#ifndef HAVE_LGAMMA
+extern int sgngam;
+#  define lgamma lgam
+#  define signgam sgngam
+extern double lgam ( double x );
+#else
+#  ifndef HAVE_LGAMMA_DECL
+extern double lgamma ( double x );
+#  endif
+#  ifndef HAVE_SIGNGAM_DECL
+extern int signgam;
+#  endif
+#  define lgam lgamma
+#  define sgngam signgam
+#endif
+
+#ifndef HAVE_ACOSH_DECL
+extern double acosh ( double x );
+#endif
+
+#ifndef HAVE_ASINH_DECL
+extern double asinh ( double x );
+#endif
+
+#ifndef HAVE_ATANH_DECL
+extern double atanh ( double x );
+#endif
+
+#ifndef HAVE_ERF_DECL
+extern double erf ( double x );
+#endif
+
+#ifndef HAVE_ERFC_DECL
+extern double erfc ( double x );
+#endif
+
+#ifndef HAVE_Y0_DECL
+extern double y0 ( double x );
+#endif
+#ifndef HAVE_Y1_DECL
+extern double y1 ( double x );
+#endif
+#ifndef HAVE_YN_DECL
+extern double yn ( int n, double x );
+#endif
+#ifndef HAVE_J0_DECL
+extern double j0 ( double x );
+#endif
+#ifndef HAVE_J1_DECL
+extern double j1 ( double x );
+#endif
+#ifndef HAVE_JN_DECL
+extern double jn ( int n, double x );
+#endif
+
+/* isfinite is a macro */
+#ifdef isfinite
+#  define HAVE_ISFINITE_MACRO
+#endif
+
+#ifndef HAVE_FINITE
+#  define finite isfinite
+#  if !defined(HAVE_ISFINITE_DECL) && !defined(HAVE_ISFINITE_MACRO)
+extern int isfinite ( double x );
+#  endif
+#else
+#  ifndef HAVE_FINITE_DECL
+extern int finite ( double x );
+#  endif
+#endif
+
+#ifndef HAVE_ISNAN_DECL
+#ifdef __FreeBSD__
+#  include <sys/param.h>
+#  if __FreeBSD_version < 500100
+extern int isnan ( double x );
+#  endif
+#endif
+#else
+extern int isnan ( double x );
+#endif