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/*
* Copyright © 2009 Keith Packard <keithp@keithp.com>
*
* 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.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#include "cc.h"
#include <stdlib.h>
#include <math.h>
#include <string.h>
static void
cook_timed(struct cc_timedata *td, struct cc_perioddata *pd,
double start_time, double stop_time,
double omega_pass, double omega_stop, double error)
{
struct cc_perioddata *unfiltered, *filtered;
unfiltered = cc_period_make(td, start_time, stop_time);
filtered = cc_period_low_pass (unfiltered, omega_pass, omega_stop, error);
*pd = *filtered;
free (filtered);
free (unfiltered->data);
free (unfiltered);
}
static double
barometer_to_altitude(double b, double pad_alt)
{
return cc_barometer_to_altitude(b) - pad_alt;
}
struct cc_flightcooked *
cc_flight_cook(struct cc_flightraw *raw)
{
struct cc_flightcooked *cooked;
double flight_start = 0;
double flight_stop = 0;
int start_set = 0;
int stop_set = 0;
int i;
struct cc_timedata *accel;
struct cc_timedata *accel_speed;
struct cc_timedata *accel_pos;
struct cc_timedata *pres;
struct cc_perioddata *pres_speed;
struct cc_perioddata *pres_accel;
if (raw->accel.num == 0)
return NULL;
cooked = calloc (1, sizeof (struct cc_flightcooked));
/*
* Find flight start and stop times by looking at
* state transitions. The stop time is set to the time
* of landing, which may be long after it landed (due to radio
* issues). Refine this value by looking through the sensor data
*/
for (i = 0; i < raw->state.num; i++) {
if (!start_set && raw->state.data[i].value > ao_flight_pad) {
flight_start = raw->state.data[i].time - 10;
start_set = 1;
}
if (!stop_set && raw->state.data[i].value > ao_flight_main) {
flight_stop = raw->state.data[i].time;
stop_set = 1;
}
}
if (!start_set || flight_start < raw->accel.data[0].time)
flight_start = raw->accel.data[0].time;
if (stop_set) {
for (i = 0; i < raw->accel.num - 1; i++) {
if (raw->accel.data[i+1].time >= flight_stop) {
flight_stop = raw->accel.data[i].time;
break;
}
}
} 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);
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 * 20 / 100)
#define ACCEL_OMEGA_STOP (2 * M_PI * 30 / 100)
#define BARO_OMEGA_PASS (2 * M_PI * .5 / 100)
#define BARO_OMEGA_STOP (2 * M_PI * 1 / 100)
#define FILTER_ERROR (1e-8)
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));
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 */
pres_speed = cc_perioddata_differentiate(&cooked->pres_pos);
pres_accel = cc_perioddata_differentiate(pres_speed);
cooked->pres_speed = *pres_speed;
free(pres_speed);
cooked->pres_accel = *pres_accel;
free(pres_accel);
/* copy state */
cooked->state.num = raw->state.num;
cooked->state.size = raw->state.num;
cooked->state.data = calloc(cooked->state.num, sizeof (struct cc_timedataelt));
memcpy(cooked->state.data, raw->state.data, cooked->state.num * sizeof (struct cc_timedataelt));
cooked->state.time_offset = raw->state.time_offset;
return cooked;
}
#define if_free(x) ((x) ? free(x) : (void) 0)
void
cc_flightcooked_free(struct cc_flightcooked *cooked)
{
if_free(cooked->accel_accel.data);
if_free(cooked->accel_speed.data);
if_free(cooked->accel_pos.data);
if_free(cooked->pres_pos.data);
if_free(cooked->pres_speed.data);
if_free(cooked->pres_accel.data);
if_free(cooked->gps_lat.data);
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);
}
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