From db770d6a11dc961c7322cbabe2daa9e1e2cc4c56 Mon Sep 17 00:00:00 2001
From: "Pier Francesco A. Bachini" <pierfrancesco.bachini@skywarder.eu>
Date: Wed, 26 Mar 2025 20:27:10 +0100
Subject: [PATCH] Update main to ensure timestamps are read correctly
---
main.m | 31 +++++++++++++++++++++++++++----
1 file changed, 27 insertions(+), 4 deletions(-)
diff --git a/main.m b/main.m
index 40bd8eb..3da04f0 100644
--- a/main.m
+++ b/main.m
@@ -6,12 +6,15 @@ clc;
IMU = table2array(readtable('IMU.csv'));
dt_IMU = 1000;
+lastImuIdx = 0;
GPS = table2array(readtable('GPS.csv'));
dt_GPS = 200000;
+lastGPSIdx = 0;
baro = table2array(readtable('barometer.csv'));
dt_baro = mean(diff(baro(:, 1)));
+lastBaroIdx = 0;
t_end = min([IMU(end,1), baro(end,1), GPS(end,1)]);
@@ -26,10 +29,30 @@ apogee_time = -1;
% Simulation
for t = 0:2000:t_end
- % Getting measurment form sensors
- pressure_measurment = baro(floor(t/dt_baro)+1,2);
- IMU_measurment = IMU(floor(t/dt_IMU)+1, 2:7);
- GPS_measurment = GPS(floor(t/dt_GPS)+1, 2:4);
+ % Getting measurment from sensors
+ baro_idx = sum(baro(:,1) <= t);
+ if baro_idx > lastBaroIdx
+ pressure_measurment = baro(baro_idx, 2);
+ lastBaroIdx = baro_idx;
+ else
+ pressure_measurment = baro(lastBaroIdx,2);
+ end
+
+ imu_idx = sum(IMU(:,1) <= t);
+ if imu_idx > lastImuIdx
+ IMU_measurment = IMU(imu_idx, 2);
+ lastImuIdx = imu_idx;
+ else
+ IMU_measurment = IMU(lastImuIdx,2:7);
+ end
+
+ gps_idx = sum(GPS(:,1) <= t);
+ if gps_idx > lastGPSIdx
+ GPS_measurment = GPS(gps_idx, 2:4);
+ lastGPSIdx = gps_idx;
+ else
+ GPS_measurment = GPS(lastGPSIdx,2:4);
+ end
% Apogee detection
[flag_apogee, data] = apogee_detector(pressure_measurment, IMU_measurment, GPS_measurment, data);
--
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