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Code Issues Releases Activity

GCS/Scope: Make smooth interpolation (and internal sum) be long term correct despite limited floating point accuracy, but keep constant overhead

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This commit is contained in:
Corvus Corax 2011-11-26 22:06:46 +01:00
parent dfd18d43b5
commit 5af9a2558c
3 changed files with 31 additions and 6 deletions
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31
ground/openpilotgcs/src/plugins/scope/plotdata.cpp
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@ -55,6 +55,8 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField)
scalePower = 0; scalePower = 0;
interpolationSamples = 1; interpolationSamples = 1;
interpolationSum = 0.0f; interpolationSum = 0.0f;
correctionSum = 0.0f;
correctionCount = 0;
yMinimum = 0; yMinimum = 0;
yMaximum = 0; yMaximum = 0;
@ -95,12 +97,23 @@ bool SequencialPlotData::append(UAVObject* obj)
if (field) { if (field) {
//Shift data forward and put the new value at the front //Shift data forward and put the new value at the front
yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower));
interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower); // calculate interpolated (smoothed) value
double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) { if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first(); interpolationSum -= yDataHistory->first();
yDataHistory->pop_front(); yDataHistory->pop_front();
} }
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
yData->append(interpolationSum/yDataHistory->size()); yData->append(interpolationSum/yDataHistory->size());
if (yData->size() > m_xWindowSize) { if (yData->size() > m_xWindowSize) {
yData->pop_front(); yData->pop_front();
@ -127,12 +140,22 @@ bool ChronoPlotData::append(UAVObject* obj)
//Put the new value at the front //Put the new value at the front
QDateTime NOW = QDateTime::currentDateTime(); QDateTime NOW = QDateTime::currentDateTime();
yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower)); // calculate interpolated (smoothed) value
interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower); double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
yDataHistory->append( currentValue );
interpolationSum += currentValue;
if(yDataHistory->size() > interpolationSamples) { if(yDataHistory->size() > interpolationSamples) {
interpolationSum -= yDataHistory->first(); interpolationSum -= yDataHistory->first();
yDataHistory->pop_front(); yDataHistory->pop_front();
} }
// make sure to correct the sum every interpolationSamples steps to prevent it
// from running away due to flouting point rounding errors
correctionSum += currentValue;
if (++correctionCount >= interpolationSamples) {
interpolationSum = correctionSum;
correctionSum = 0.0f;
correctionCount = 0;
}
double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0; double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0;
double valueY = interpolationSum/yDataHistory->size(); double valueY = interpolationSum/yDataHistory->size();

2
ground/openpilotgcs/src/plugins/scope/plotdata.h
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@ -74,6 +74,8 @@ public:
int scalePower; //This is the power to which each value must be raised int scalePower; //This is the power to which each value must be raised
int interpolationSamples; int interpolationSamples;
double interpolationSum; double interpolationSum;
double correctionSum;
int correctionCount;
double yMinimum; double yMinimum;
double yMaximum; double yMaximum;
double m_xWindowSize; double m_xWindowSize;

4
ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
View File

@ -162,7 +162,7 @@
<item row="9" column="0"> <item row="9" column="0">
<widget class="QLabel" name="label_10"> <widget class="QLabel" name="label_10">
<property name="text"> <property name="text">
<string>Smooth Interpolation:</string> <string>Display smoothed interpolation:</string>
</property> </property>
</widget> </widget>
</item> </item>
@ -294,7 +294,7 @@ Update</string>
<item> <item>
<widget class="QCheckBox" name="LoggingEnable"> <widget class="QCheckBox" name="LoggingEnable">
<property name="text"> <property name="text">
<string>Log data to csv file</string> <string>Log data to csv file (not interpolated)</string>
</property> </property>
</widget> </widget>
</item> </item>