diff options
| -rw-r--r-- | src/test/Makefile | 4 | ||||
| -rw-r--r-- | src/test/ao_micropeak_test.c | 40 | ||||
| -rwxr-xr-x | src/test/plotmicro | 4 |
3 files changed, 39 insertions, 9 deletions
diff --git a/src/test/Makefile b/src/test/Makefile index 87bd70fe..1c2d771e 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -62,5 +62,5 @@ ao_aprs_data.wav: ao_aprs_test check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests ./ao_fec_test && ./run-tests -ao_micropeak_test: ao_micropeak_test.c ao_microflight.c - cc $(CFLAGS) -o $@ ao_micropeak_test.c -lm
\ No newline at end of file +ao_micropeak_test: ao_micropeak_test.c ao_microflight.c ao_kalman.h + cc $(CFLAGS) -o $@ ao_micropeak_test.c -lm diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c index 04686402..5961bd93 100644 --- a/src/test/ao_micropeak_test.c +++ b/src/test/ao_micropeak_test.c @@ -67,10 +67,11 @@ ao_micro_report(void) { if (running) { alt_t ground = ao_pa_to_altitude(pa_ground); - printf ("%6.2f %10d %10d %10d\n", now / 100.0, + printf ("%6.3f %10d %10d %10d %10d %10d\n", now / 100.0, ao_pa_to_altitude(pa) - ground, ao_pa_to_altitude(ao_pa) - ground, - ao_pa_to_altitude(pa_min) - ground); + ao_pa_to_altitude(pa_min) - ground, + ao_pa_speed, ao_pa_accel); } } @@ -92,14 +93,24 @@ ao_pa_get(void) double time; double pressure; static double last_time; + static double last_pressure; static int been_here; static int start_samples; + static int is_mp; + static int use_saved; if (been_here && start_samples < 100) { start_samples++; return; } ao_micro_report(); + if (use_saved) { + pa = last_pressure; + now = last_time; + use_saved = 0; +// printf ("use saved %d %d\n", now, pa); + return; + } for (;;) { if (!fgets(line, sizeof (line), emulator_in)) exit(0); @@ -119,15 +130,32 @@ ao_pa_get(void) } } continue; + } else if (!strcmp(toks[0], "Time")) { + time_id = 0; + pa_id = 1; + is_mp = 1; + continue; } time = strtod(toks[time_id],NULL); pressure = strtod(toks[pa_id],NULL); - if (been_here && time - last_time < 0.1) + time *= 100; + if (been_here && time - last_time < 0.096 * 100) continue; - been_here = 1; + if (is_mp && been_here) { + double avg_pressure = (pressure + last_pressure) / 2.0; + double avg_time = (time + last_time) / 2.0; + + now = avg_time; + pa = avg_pressure; +// printf ("new %d %d\n", now, pa); + use_saved = 1; + } else { + now = floor (time + 0.5); + pa = pressure; + } + last_pressure = pressure; last_time = time; - now = floor (time * 100 + 0.5); - pa = pressure; + been_here = 1; break; } } diff --git a/src/test/plotmicro b/src/test/plotmicro index cdfcc581..bb8f4d1d 100755 --- a/src/test/plotmicro +++ b/src/test/plotmicro @@ -3,12 +3,14 @@ for i in "$@"; do gnuplot -p << EOF & set title "$i" set ylabel "height (m)" +set y2label "accel (m/s²)" set xlabel "time (s)" set xtics border out nomirror set ytics border out nomirror set y2tics border out nomirror plot "$i" using 1:2 with lines lt 2 axes x1y1 title "raw height",\ "$i" using 1:3 with lines lt 4 axes x1y1 title "kalman height",\ - "$i" using 1:4 with lines lt 1 axes x1y1 title "max height" + "$i" using 1:4 with lines lt 1 axes x1y1 title "max height",\ + "$i" using 1:6 with lines lt 3 axes x1y2 title "pa accel" EOF done |