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Replay: added --downsample option

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This commit is contained in:
Andrew Tridgell 2015-07-07 15:55:41 +10:00
parent dd53f5a7a1
commit 2eb204d0ca
1 changed files with 20 additions and 9 deletions
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29
Tools/Replay/Replay.cpp
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@ -248,6 +248,8 @@ private:
float tolerance_pos = 2;
float tolerance_vel = 2;
const char **nottypes = NULL;
uint16_t downsample = 0;
uint32_t output_counter = 0;
struct {
float max_roll_error;
@ -295,6 +297,7 @@ void Replay::usage(void)
::printf("\t--tolerance-pos tolerance for position in meters\n");
::printf("\t--tolerance-vel tolerance for velocity in meters/second\n");
::printf("\t--nottypes list of msg types not to output, comma separated\n");
::printf("\t--downsample downsampling rate for output\n");
}
@ -304,7 +307,8 @@ enum {
OPT_TOLERANCE_EULER,
OPT_TOLERANCE_POS,
OPT_TOLERANCE_VEL,
OPT_NOTTYPES
OPT_NOTTYPES,
OPT_DOWNSAMPLE
};
void Replay::flush_dataflash(void) {
@ -355,6 +359,7 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
{"tolerance-pos", true, 0, OPT_TOLERANCE_POS},
{"tolerance-vel", true, 0, OPT_TOLERANCE_VEL},
{"nottypes", true, 0, OPT_NOTTYPES},
{"downsample", true, 0, OPT_DOWNSAMPLE},
{0, false, 0, 0}
};
@ -421,6 +426,10 @@ void Replay::_parse_command_line(uint8_t argc, char * const argv[])
nottypes = parse_list_from_string(gopt.optarg);
break;
case OPT_DOWNSAMPLE:
downsample = atoi(gopt.optarg);
break;
case 'h':
default:
usage();
@ -701,14 +710,16 @@ void Replay::read_sensors(const char *type)
if (_vehicle.ahrs.get_home().lat != 0) {
_vehicle.inertial_nav.update(_vehicle.ins.get_delta_time());
}
if (!LogReader::in_list("EKF", nottypes)) {
_vehicle.dataflash.Log_Write_EKF(_vehicle.ahrs,false);
}
if (!LogReader::in_list("AHRS2", nottypes)) {
_vehicle.dataflash.Log_Write_AHRS2(_vehicle.ahrs);
}
if (!LogReader::in_list("POS", nottypes)) {
_vehicle.dataflash.Log_Write_POS(_vehicle.ahrs);
if (downsample == 0 || ++output_counter % downsample == 0) {
if (!LogReader::in_list("EKF", nottypes)) {
_vehicle.dataflash.Log_Write_EKF(_vehicle.ahrs,false);
}
if (!LogReader::in_list("AHRS2", nottypes)) {
_vehicle.dataflash.Log_Write_AHRS2(_vehicle.ahrs);
}
if (!LogReader::in_list("POS", nottypes)) {
_vehicle.dataflash.Log_Write_POS(_vehicle.ahrs);
}
}
if (_vehicle.ahrs.healthy() != ahrs_healthy) {
ahrs_healthy = _vehicle.ahrs.healthy();