From 84d45cce400658cfb85f962c46fcc0ca97db0bc6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 10 May 2016 15:40:30 +1000
Subject: [PATCH] Replay: fixed log rate detection

---
 Tools/Replay/Replay.cpp | 17 +++++++++++++----
 1 file changed, 13 insertions(+), 4 deletions(-)

diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index 76273af2b7..891d61be45 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -526,6 +526,7 @@ bool Replay::find_log_info(struct log_information &info)
     int samplecount = 0;
     uint64_t prev = 0;
     uint64_t smallest_delta = 0;
+    uint64_t total_delta = 0;
     prev = 0;
     const uint16_t samples_required = 1000;
     while (samplecount < samples_required) {
@@ -557,17 +558,22 @@ bool Replay::find_log_info(struct log_information &info)
             samplecount = 0;
             prev = 0;
             smallest_delta = 0;
+            total_delta = 0;
         }
         if (streq(type, clock_source)) {
             if (prev == 0) {
                 prev = reader.last_clock_timestamp;
             } else {
                 uint64_t delta = reader.last_clock_timestamp - prev;
-                if (smallest_delta == 0 || delta < smallest_delta) {
-                    smallest_delta = delta;
+                if (delta < 40000 && delta > 1000) {
+                    if (smallest_delta == 0 || delta < smallest_delta) {
+                        smallest_delta = delta;
+                    }
+                    samplecount++;
+                    total_delta += delta;
                 }
-                samplecount++;
             }
+            prev = reader.last_clock_timestamp;
         }
 
         if (streq(type, "IMU2")) {
@@ -585,7 +591,10 @@ bool Replay::find_log_info(struct log_information &info)
         return false;
     }
 
-    float rate = 1.0e6f/smallest_delta;
+    float average_delta = total_delta / samplecount;
+    float rate = 1.0e6f/average_delta;
+    printf("average_delta=%.2f smallest_delta=%lu samplecount=%lu\n",
+           average_delta, (unsigned long)smallest_delta, (unsigned long)samplecount);
     if (rate < 100) {
         info.update_rate = 50;
     } else {