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-rw-r--r--ao-tools/ao-postflight/ao-postflight.122
-rw-r--r--ao-tools/ao-postflight/ao-postflight.c118
-rw-r--r--ao-tools/lib/cc-analyse.c14
-rw-r--r--ao-tools/lib/cc-integrate.c21
-rw-r--r--ao-tools/lib/cc-period.c26
-rw-r--r--ao-tools/lib/cc-process.c20
-rw-r--r--ao-tools/lib/cc.h12
7 files changed, 180 insertions, 53 deletions
diff --git a/ao-tools/ao-postflight/ao-postflight.1 b/ao-tools/ao-postflight/ao-postflight.1
index ac1c18a4..eca4bb34 100644
--- a/ao-tools/ao-postflight/ao-postflight.1
+++ b/ao-tools/ao-postflight/ao-postflight.1
@@ -23,15 +23,29 @@ ao-postflight \- Analyse a flight log (either telemetry or eeprom)
.B "ao-postflight"
[\-s <summary-file>]
[\--summary=<summary-file>]
-[\-d <detail-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 or to the specified file along with an optional .svg format
-plot and detailed table of time/height/speed/accel.
+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 4ca39c24..ded2f3c2 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 +70,58 @@ 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)
+{
+ 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;
+ plcol0(1);
+ pllab("Time", axis_label, plot_label);
+ for (i = start; i <= stop; i++) {
+ times[i-start] = (d->data[i].time - start_time)/100.0;
+ values[i-start] = d->data[i].value;
+ }
+ plenv(times[0], times[stop-start], ymin, ymax, 0, 2);
+ plline(stop - start + 1, times, values);
+ free(times);
+ free(values);
}
static struct cc_perioddata *
@@ -102,7 +159,7 @@ 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 +298,17 @@ 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 +320,12 @@ 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, PLOT_HEIGHT);
+ plot_perioddata(speed, "meters/second", "Speed", -1e10, 1e10, PLOT_SPEED);
+ plot_perioddata(speed, "meters/second", "Speed to Apogee", boost_start, apogee, PLOT_SPEED);
+ plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration", -1e10, 1e10, PLOT_ACCEL);
+ plot_perioddata(&cooked->accel_accel, "meters/second²", "Acceleration to Apogee", boost_start, apogee, PLOT_ACCEL);
free(speed->data);
free(speed);
plend();
@@ -270,12 +338,18 @@ 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>] [-s <summary-file>] [--detail=<detail-file] [-d <detail-file>] [--plot=<plot-file> -p <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 +357,21 @@ 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 +382,15 @@ 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 +409,13 @@ 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 +436,7 @@ 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..2a4e5952 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);
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 01:00:49 +0000