diff options
Diffstat (limited to 'ao-tools/lib/cc-process.c')
| -rw-r--r-- | ao-tools/lib/cc-process.c | 20 |
1 files changed, 14 insertions, 6 deletions
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); } |