*Waaaay better (sum all) air time detection

*Fixed headers order on all reports (problem with Q_OS_LINUX not being defined before adding normal Qt headers) *NormFeet device replaces invalid readings with the readings from the other foot *Fuzzy detector considers only imu.acc.z reading (further consideration of sqrt(imu.acc.x**2 + imu.acc.y**2) is considered) git-svn-id: http://www.cpscotti.com/pushsnowboarding@14 c819a03f-852d-4de4-a68c-c3ac47756727
cpscotti · Feb 15, 2011 · 41db957 · 41db957
1 parent 79a02c7
commit 41db957
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Showing 11 changed files with 146 additions and 104 deletions.
diff --git a/PushBurton2/FilesystemConventions.h b/PushBurton2/FilesystemConventions.h
@@ -1,24 +1,32 @@
 #ifndef FILESYSTEMCONVENTIONS_H
 #define FILESYSTEMCONVENTIONS_H
 
-#define FSC_FSYS_SLASH "/"
+//#define FSC_FSYS_SLASH "/"
+
+//#warning FSC loaded
 
 #ifdef Q_OS_SYMBIAN
     #define FSC_RUNS_FOLDERS_ROOT "E:/"
     #define FSC_FSYS_SLASH "/"
     #define FSC_SETTINGS_FOLDER ""
+//    #warning Q_OS_SYMBIAN Selected
+#else
+    #ifdef Q_OS_LINUX
+        #define FSC_RUNS_FOLDERS_ROOT "/home/cpscotti/"
+        #define FSC_FSYS_SLASH "/"
+        #define FSC_SETTINGS_FOLDER "NPBSettings/"
+//        #warning Q_OS_LINUX Selected
+    #else
+        #ifdef Q_OS_WIN32
+            #define FSC_RUNS_FOLDERS_ROOT "C:\\"
+            #define FSC_FSYS_SLASH "\\"
+            #define FSC_SETTINGS_FOLDER "NPBSettings\\"
+//            #warning Q_OS_WIN32 Selected
+        #else
+            #error NO PLATFORM Selected
+        #endif
 #endif
 
-#ifdef Q_OS_LINUX
-    #define FSC_RUNS_FOLDERS_ROOT "/home/cpscotti/"
-    #define FSC_FSYS_SLASH "/"
-    #define FSC_SETTINGS_FOLDER "NPBSettings/"
-#endif
-
-#ifdef Q_OS_WIN32
-    #define FSC_RUNS_FOLDERS_ROOT "C:\\"
-    #define FSC_FSYS_SLASH "\\"
-    #define FSC_SETTINGS_FOLDER "NPBSettings\\"
 #endif
 
 #define FSC_RUNS_PREFIX "NPBRun"

diff --git a/PushBurton2/fuzzydetector.cpp b/PushBurton2/fuzzydetector.cpp
@@ -30,43 +30,40 @@
 FuzzyDetector::FuzzyDetector()
 {
     fp_onAir.push_back(Relation(0.0, 1.0));//No pressure, air
-    fp_onAir.push_back(Relation(2000.0, 1.0));
-    fp_onAir.push_back(Relation(2600.0, 0.0));
+    fp_onAir.push_back(Relation(1900.0, 1.0));
+    fp_onAir.push_back(Relation(2100.0, 0.0));
     fp_onAir.push_back(Relation(4024.0, 0.0));//full pressure, dunno
 
     fp_onGrnd.push_back(Relation(0.0, 0.0));//No pressure, dunno
-    fp_onGrnd.push_back(Relation(2600.0, 0.0));
-    fp_onGrnd.push_back(Relation(3000.0, 0.9));
+    fp_onGrnd.push_back(Relation(2100.0, 0.0));
+    fp_onGrnd.push_back(Relation(2500.0, 0.8));
+    fp_onGrnd.push_back(Relation(2800.0, 1.0));
     fp_onGrnd.push_back(Relation(4024.0, 1.0));//full pressure, ground
 
     pa_onAir.push_back(Relation(0.0, 1.0));//no gravity, on air!
     pa_onAir.push_back(Relation(3.0, 1.0));
-    pa_onAir.push_back(Relation(6.6, 0.0));
+    pa_onAir.push_back(Relation(7.0, 0.0));
     pa_onAir.push_back(Relation(50.0, 0.0));//hell no!
 
-//    fp_onGrnd.push_back(Relation(0.0, 0.0));//No pressure, dunno
-//    fp_onGrnd.push_back(Relation(2600.0, 0.0));
-//    fp_onGrnd.push_back(Relation(3300.0, 1.0));
-//    fp_onGrnd.push_back(Relation(4024.0, 1.0));//full pressure, ground
-
-//    pa_onAir.push_back(Relation(0.0, 1.0));//no gravity, on air!
-//    pa_onAir.push_back(Relation(3.0, 1.0));
-//    pa_onAir.push_back(Relation(6.0, 0.0));
-//    pa_onAir.push_back(Relation(50.0, 0.0));//hell no!
-
     pa_onGrnd.push_back(Relation(0.0, 0.0));//no gravity, hell no
-    pa_onGrnd.push_back(Relation(6.0, 0.0));
-    pa_onGrnd.push_back(Relation(9.0, 1.0));
+    pa_onGrnd.push_back(Relation(7.0, 0.0));
+    pa_onGrnd.push_back(Relation(9.0, 0.5));
+    pa_onGrnd.push_back(Relation(15.0, 1.0));//definitely on ground
     pa_onGrnd.push_back(Relation(50.0, 1.0));//definitely on ground
 
-    ia_onAir.push_back(Relation(0.0, 0.8));
-    ia_onAir.push_back(Relation(0.6, 0.0));
-    ia_onAir.push_back(Relation(8.0, 0.0));
 
-    ia_onGrnd.push_back(Relation(0.0, 0.0));
-    ia_onGrnd.push_back(Relation(1.0, 0.0));
-    ia_onGrnd.push_back(Relation(3.0, 1.0));
-    ia_onGrnd.push_back(Relation(8.0, 1.0));
+    ia_onAir.push_back(Relation(-10.0, 0.0));
+    ia_onAir.push_back(Relation(-0.5, 0.0));
+    ia_onAir.push_back(Relation(0.0, 1.0));
+    ia_onAir.push_back(Relation(1.0, 1.0));
+    ia_onAir.push_back(Relation(1.5, 0.0));
+    ia_onAir.push_back(Relation(10.0, 0.0));
+
+    ia_onGrnd.push_back(Relation(-10.0, 1.0));
+    ia_onGrnd.push_back(Relation(-3.0, 1.0));
+    ia_onGrnd.push_back(Relation(-1.0, 0.6));
+    ia_onGrnd.push_back(Relation(-0.3, 0.0));
+    ia_onGrnd.push_back(Relation(10.0, 0.0));
 
     LoadFromXml((QString(FSC_RUNS_FOLDERS_ROOT)+FSC_SETTINGS_FOLDER)+"atdsettings.xml");//if file doesn't exist, do nothing + save it
 
@@ -86,7 +83,6 @@ Response FuzzyDetector::FuzzyficateToAirOrGround(double fp, double pa, double ia
         oa_fp = fp_onAir.fuzificate(fp);
         og_fp = fp_onGrnd.fuzificate(fp);
     }
-
     if(!isnan(pa)) {
         oa_pa = pa_onAir.fuzificate(pa);
         og_pa = pa_onGrnd.fuzificate(pa);
@@ -97,25 +93,23 @@ Response FuzzyDetector::FuzzyficateToAirOrGround(double fp, double pa, double ia
         og_ia = ia_onGrnd.fuzificate(ia);
     }
 
-    double onAir = std::max(oa_fp, std::max(oa_pa, oa_ia));
-    double onGround = std::max(og_fp, std::max(og_pa, og_ia));
+    //Most certain dictates all
+//    double onAir = std::max(oa_fp, std::max(oa_pa, oa_ia));
+//    double onGround = std::max(og_fp, std::max(og_pa, og_ia));
+
+    //Sum of all votes
+    double onAir = (oa_fp+oa_pa+oa_ia)/3.0;
+    double onGround = (og_fp+og_pa+og_ia)/3.0;
 
     Response resp;
     if(onAir > onGround) {
-        if(onAir > 0.8 && onGround < 0.5) {
+        if(onAir > 0.15) {// && onGround < 0.6) {
             resp = FlyingLikeAnEagle;
-
-//            qDebug() << "onAir " << oa_fp <<"(fp)/"
-//                    << oa_pa <<"(pa)/"
-//                    << oa_ia << "(ia), onGround "
-//                    << og_fp <<"(fp)/"
-//                    << og_pa <<"(pa)/"
-//                    << og_ia << "ia";
         } else {
             resp = CantHelpYouOnThisOne;
         }
     } else if(onAir < onGround){
-        if(onGround > 0.8 && onAir < 0.5) {
+        if(onGround > 0.15) {// && onAir < 0.6) {
             resp = SlidingDownLikeAPenguin;
         } else {
             resp = CantHelpYouOnThisOne;
@@ -124,6 +118,22 @@ Response FuzzyDetector::FuzzyficateToAirOrGround(double fp, double pa, double ia
         resp = CantHelpYouOnThisOne;
     }
 
+    QString sresp;
+    if(resp == FlyingLikeAnEagle) {
+        sresp = " AIR ";
+    } else if(resp == SlidingDownLikeAPenguin) {
+        sresp = " GROUND ";
+    } else {
+        sresp = " UNKNOWN ";
+    }
+
+    qDebug() << sresp << ": onAir (" << onAir << ") " << oa_fp <<"(fp)/"
+            << oa_pa <<"(pa)/"
+            << oa_ia << "(ia), onGround (" << onGround << ")"
+            << og_fp <<"(fp)/"
+            << og_pa <<"(pa)/"
+            << og_ia << "ia";
+
     return resp;
 }
 

diff --git a/PushBurton2/npushreportairtime.h b/PushBurton2/npushreportairtime.h
@@ -28,8 +28,6 @@
 #ifndef NPUSHREPORTAIRTIME_H
 #define NPUSHREPORTAIRTIME_H
 
-#include "FilesystemConventions.h"
-
 #include "npushgenreport.h"
 #include <QList>
 #include <QObject>
@@ -40,6 +38,8 @@
 #include <QXmlStreamReader>
 #include <QFile>
 
+#include "FilesystemConventions.h"
+
 class NPushReportAirTime : public NPushGenReport
 {
     Q_OBJECT

diff --git a/PushBurton2/npushreportaltitude.h b/PushBurton2/npushreportaltitude.h
@@ -28,8 +28,6 @@
 #ifndef NPUSHREPORTALTITUDE_H
 #define NPUSHREPORTALTITUDE_H
 
-#include "FilesystemConventions.h"
-
 #include "npushgenreport.h"
 #include <QVector>
 #include <QObject>
@@ -42,6 +40,8 @@
 
 #include "selfshrinkinglist.h"
 
+#include "FilesystemConventions.h"
+
 class NPushReportAltitude : public NPushGenReport
 {
     Q_OBJECT

diff --git a/PushBurton2/npushreportgsr.h b/PushBurton2/npushreportgsr.h
@@ -28,8 +28,6 @@
 #ifndef NPUSHREPORTGSR_H
 #define NPUSHREPORTGSR_H
 
-#include "FilesystemConventions.h"
-
 #include "npushgenreport.h"
 #include <QVector>
 #include <QObject>
@@ -42,6 +40,7 @@
 
 #include "selfshrinkinglist.h"
 
+#include "FilesystemConventions.h"
 class NPushReportGSR : public NPushGenReport
 {
     Q_OBJECT

diff --git a/PushBurton2/npushreportheart.h b/PushBurton2/npushreportheart.h
@@ -28,8 +28,6 @@
 #ifndef NPUSHREPORTHEART_H
 #define NPUSHREPORTHEART_H
 
-#include "FilesystemConventions.h"
-
 #include "npushgenreport.h"
 #include <QVector>
 #include <QObject>
@@ -42,6 +40,8 @@
 
 #include "selfshrinkinglist.h"
 
+#include "FilesystemConventions.h"
+
 class NPushReportHeart : public NPushGenReport
 {
     Q_OBJECT

diff --git a/PushBurton2/npushreportspeed.h b/PushBurton2/npushreportspeed.h
@@ -28,8 +28,6 @@
 #ifndef NPUSHREPORTSPEED_H
 #define NPUSHREPORTSPEED_H
 
-#include "FilesystemConventions.h"
-
 #include "npushgenreport.h"
 #include <QVector>
 #include <QObject>
@@ -40,6 +38,8 @@
 #include <QXmlStreamReader>
 #include <QFile>
 
+#include "FilesystemConventions.h"
+
 #include "selfshrinkinglist.h"
 
 class NPushReportSpeed : public NPushGenReport

diff --git a/PushBurton2/pushn8absnormfeetdevice.cpp b/PushBurton2/pushn8absnormfeetdevice.cpp
@@ -93,11 +93,25 @@ void PushN8AbsNormFeetDevice::incomming_reading(NPushLogTick * gtick)
         NPushFootTick * ftick = (NPushFootTick *)gtick;
 
         if(ftick->side == 'L') {
-            pdata.LToe.update(ftick->toes);
-            pdata.LHeel.update(ftick->heel);
+            pdata.LToe.update(
+                    (ftick->toes > FOOT_PRESSURE_INVALID_THRESHOLD)?
+                    ftick->toes : pdata.RToe.rawVal
+                    );
+
+            pdata.LHeel.update(
+                    (ftick->heel > FOOT_PRESSURE_INVALID_THRESHOLD)?
+                    ftick->heel : pdata.RHeel.rawVal
+                    );
         } else {
-            pdata.RToe.update(ftick->toes);
-            pdata.RHeel.update(ftick->heel);
+            pdata.RToe.update(
+                    (ftick->toes > FOOT_PRESSURE_INVALID_THRESHOLD)?
+                    ftick->toes : pdata.LToe.rawVal
+                    );
+
+            pdata.RHeel.update(
+                    (ftick->heel > FOOT_PRESSURE_INVALID_THRESHOLD)?
+                    ftick->heel : pdata.LHeel.rawVal
+                    );
         }
 
         if((ftick->msecsToEpoch - lastReading) < 100 &&

diff --git a/PushBurton2/pushn8airtimedetector.cpp b/PushBurton2/pushn8airtimedetector.cpp
@@ -38,6 +38,9 @@ void PushN8AirTimeDetector::incomming_reading(NPushLogTick * gtick)
         currentTstamp = ftick->msecsToEpoch;
 
         runFuzzy = true;
+        if(fp < 2000) {
+            qDebug() << "Got air here";
+        }
 
 
 //        qDebug() << "Got Sum: " << ftick->pdata.totalRawSum;
@@ -61,9 +64,10 @@ void PushN8AirTimeDetector::incomming_reading(NPushLogTick * gtick)
         nacc[1] = (((double)itick->accel[1]) -512.0)*1.0/107.0;
         nacc[2] = (((double)itick->accel[2]) -512.0)*1.0/107.0;
 
-        qreal imuAccAbs = qSqrt(nacc[0]*nacc[0] + nacc[1]*nacc[1] + nacc[2]*nacc[2]);
+//        qreal imuAccAbs = qSqrt(nacc[0]*nacc[0] + nacc[1]*nacc[1] + nacc[2]*nacc[2]);
 
-        ia = imuAccAbs;
+//        ia = imuAccAbs;
+        ia = nacc[2];//imu.acc.z
 
 //        qDebug() << "Got IMU: " << nacc[0] << "," << nacc[1] << "," << nacc[2] << " abs: " << imuAccAbs;
 
@@ -78,7 +82,7 @@ void PushN8AirTimeDetector::incomming_reading(NPushLogTick * gtick)
 
     if( (!isnan(fp) || !isnan(pa) || !isnan(ia))
         && runFuzzy) {
-//        qDebug() << currentTstamp;
+        qDebug() << QString::number(currentTstamp/1000.0, 'f', 3);
         Response resp = fuzzyDetector.FuzzyficateToAirOrGround(fp, pa, ia);
 
 //        handle_response(resp);
@@ -100,6 +104,7 @@ void PushN8AirTimeDetector::handle_response_new(Response resp)
 
             takeOffTime = currentTstamp;
             lastAirborneTime = takeOffTime;
+            qDebug() << "take off: " << takeOffTime;
             break;
 
         default:

diff --git a/PushBurton2/pushn8airtimedetector.h b/PushBurton2/pushn8airtimedetector.h
@@ -90,7 +90,7 @@ class PushN8AirTimeDetector : public PushBurtonGenericDevice
 
     double fp,pa,ia;
 
-    static const quint64 air_threshold = 400;//how big an air needs to be to be even considered
+    static const quint64 air_threshold = 200;//how big an air needs to be to be even considered
 
     static const quint64 ground_threshold = 200;//for how long the rider needs to be on the
     //ground to count as landing