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

5 files changed, 60 insertions, 33 deletions

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);