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PiInTheSky / pits

Pi In The Sky Telemetry Software
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Landing predictions become inf / nan #49

Open KevWal opened 2 years ago

KevWal commented 2 years ago

Playing back this GPS track: https://github.com/KevWal/pits/blob/63f0a1918b78d8278c807f693a08f81b01c122c2/nmea/Friday-No-GSV-VTG.NMEA

I get issues with the prediction code:

LORA0: $$KW01,236,21:03:57,52.01939,-0.15447,17022,35,83,5,31.3,4.317,0.99,52.29643,2.62463,3.3,3333,-70,6,22,NBA6C ... LORA0: $$KW01,237,21:04:16,52.01968,-0.15169,16838,1,0,5,31.2,4.273,0.97,52.29172,2.58097,3.3,3270,-64,8,23,N8479 ... LORA0: $$KW01,238,21:04:27,52.01996,-0.14920,16674,35,83,5,31.2,4.356,inf, nan, nan,0.0,2147483647,-64,8,23,N1051 ... LORA0: $$KW01,239,21:04:27,52.02020,-0.14700,16529,35,77,5,31.2,4.311,inf, nan, nan,0.0,2147483647,-64,8,23,NBCD6

Playing it back a second time, I get the same thing (Scroll back buffer didnt go back far enough to find the start of the issue):

LORA0: $$KW01,254,22:39:14,52.03025,0.02985,11048,87,91,5,30.4,4.350,inf, nan, nan,0.0,2147483647,-62,6,64,N6B11 ... LORA0: $$KW01,255,22:39:30,52.03013,0.03556,10942,87,91,5,30.6,4.276,inf, nan, nan,0.0,2147483647,-62,6,64,N0E80 ... LORA0: $$KW01,256,22:39:47,52.02990,0.04163,10833,87,92,5,30.6,4.353,inf, nan, nan,0.0,2147483647,-62,6,64,N*3319

Interestingly, 2 values are fixed again at the very end of the playback:

LORA0: SSDV image 176 packet 79 of 114 LORA0: $$KW01,408,23:19:34,51.99414,0.58410,00126,20,92,5,31.0,4.346,inf, nan, nan,0.0,2147483647,-60,6,95,NC940 LORA0: SSDV image 176 packet 80 of 114 LORA0: $$KW01,409,23:19:35,51.99412,0.58437,00116,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,N2BA4 LORA0: SSDV image 176 packet 81 of 114 LORA0: $$KW01,410,23:19:35,51.99412,0.58454,00109,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,ND6F9 LORA0: ^^KW01,434.712,1,2,48,96,007DE LORA0: SSDV image 176 packet 82 of 114 LORA0: $$KW01,411,23:19:45,51.99410,0.58506,00090,14,90,5,30.9,4.263,inf,51.99411,0.58481,0.0,0,-60,6,95,NAA24 LORA0: SSDV image 176 packet 83 of 114 LORA0: $$KW01,412,23:19:47,51.99410,0.58519,00084,1,0,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N1E58 LORA0: SSDV image 176 packet 84 of 114 LORA0: $$KW01,413,23:19:53,51.99410,0.58560,00065,14,90,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N*FFFA

Cheers Kev

PiInTheSky commented 2 years ago

When you say "Playing it back a second time", are you replacing the GPS file while the tracker program is running, or is this a separate run of the tracker?

On Tue, 23 Aug 2022 at 07:15, Kevin Walton @.***> wrote:

Playing back this GPS track: https://github.com/KevWal/pits/blob/63f0a1918b78d8278c807f693a08f81b01c122c2/nmea/Friday-No-GSV-VTG.NMEA

I get issues with the prediction code:

LORA0: $$KW01,236,21:03:57,52.01939,-0.15447,17022,35,83,5,31.3,4.317,0.99,52.29643,2.62463,3.3,3333,-70,6,22,N

BA6C ... LORA0: $$KW01,237,21:04:16,52.01968,-0.15169,16838,1,0,5,31.2,4.273,0.97,52.29172,2.58097,3.3,3270,-64,8,23,N 8479 ... LORA0: $$KW01,238,21:04:27,52.01996,-0.14920,16674,35,83,5,31.2,4.356,inf, nan, nan,0.0,2147483647,-64,8,23,N

1051 ... LORA0: $$KW01,239,21:04:27,52.02020,-0.14700,16529,35,77,5,31.2,4.311,inf, nan, nan,0.0,2147483647,-64,8,23,NBCD6

Playing it back a second time, I get the same thing (Scroll back buffer didnt go back far enough to find the start of the issue):

LORA0: $$KW01,254,22:39:14,52.03025,0.02985,11048,87,91,5,30.4,4.350,inf, nan, nan,0.0,2147483647,-62,6,64,N

6B11 ... LORA0: $$KW01,255,22:39:30,52.03013,0.03556,10942,87,91,5,30.6,4.276,inf, nan, nan,0.0,2147483647,-62,6,64,N0E80 ... LORA0: $$KW01,256,22:39:47,52.02990,0.04163,10833,87,92,5,30.6,4.353,inf, nan, nan,0.0,2147483647,-62,6,64,N*3319

Interestingly, 2 values are fixed again at the very end of the playback:

LORA0: SSDV image 176 packet 79 of 114 LORA0: $$KW01,408,23:19:34,51.99414,0.58410,00126,20,92,5,31.0,4.346,inf, nan, nan,0.0,2147483647,-60,6,95,N

C940 LORA0: SSDV image 176 packet 80 of 114 LORA0: $$KW01,409,23:19:35,51.99412,0.58437,00116,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,N2BA4 LORA0: SSDV image 176 packet 81 of 114 LORA0: $$KW01,410,23:19:35,51.99412,0.58454,00109,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,N D6F9 LORA0: ^^KW01,434.712,1,2,48,96,007DE LORA0: SSDV image 176 packet 82 of 114 LORA0: $$KW01,411,23:19:45,51.99410,0.58506,00090,14,90,5,30.9,4.263,inf,51.99411,0.58481,0.0,0,-60,6,95,N

AA24 LORA0: SSDV image 176 packet 83 of 114 LORA0: $$KW01,412,23:19:47,51.99410,0.58519,00084,1,0,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N 1E58 LORA0: SSDV image 176 packet 84 of 114 LORA0: $$KW01,413,23:19:53,51.99410,0.58560,00065,14,90,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N*FFFA

Cheers Kev

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PiInTheSky commented 2 years ago

Can you send me your NMEA file please, and I'll set this up today.

Dave

On Tue, 23 Aug 2022 at 07:15, Kevin Walton @.***> wrote:

Playing back this GPS track: https://github.com/KevWal/pits/blob/63f0a1918b78d8278c807f693a08f81b01c122c2/nmea/Friday-No-GSV-VTG.NMEA

I get issues with the prediction code:

LORA0: $$KW01,236,21:03:57,52.01939,-0.15447,17022,35,83,5,31.3,4.317,0.99,52.29643,2.62463,3.3,3333,-70,6,22,N

BA6C ... LORA0: $$KW01,237,21:04:16,52.01968,-0.15169,16838,1,0,5,31.2,4.273,0.97,52.29172,2.58097,3.3,3270,-64,8,23,N 8479 ... LORA0: $$KW01,238,21:04:27,52.01996,-0.14920,16674,35,83,5,31.2,4.356,inf, nan, nan,0.0,2147483647,-64,8,23,N

1051 ... LORA0: $$KW01,239,21:04:27,52.02020,-0.14700,16529,35,77,5,31.2,4.311,inf, nan, nan,0.0,2147483647,-64,8,23,NBCD6

Playing it back a second time, I get the same thing (Scroll back buffer didnt go back far enough to find the start of the issue):

LORA0: $$KW01,254,22:39:14,52.03025,0.02985,11048,87,91,5,30.4,4.350,inf, nan, nan,0.0,2147483647,-62,6,64,N

6B11 ... LORA0: $$KW01,255,22:39:30,52.03013,0.03556,10942,87,91,5,30.6,4.276,inf, nan, nan,0.0,2147483647,-62,6,64,N0E80 ... LORA0: $$KW01,256,22:39:47,52.02990,0.04163,10833,87,92,5,30.6,4.353,inf, nan, nan,0.0,2147483647,-62,6,64,N*3319

Interestingly, 2 values are fixed again at the very end of the playback:

LORA0: SSDV image 176 packet 79 of 114 LORA0: $$KW01,408,23:19:34,51.99414,0.58410,00126,20,92,5,31.0,4.346,inf, nan, nan,0.0,2147483647,-60,6,95,N

C940 LORA0: SSDV image 176 packet 80 of 114 LORA0: $$KW01,409,23:19:35,51.99412,0.58437,00116,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,N2BA4 LORA0: SSDV image 176 packet 81 of 114 LORA0: $$KW01,410,23:19:35,51.99412,0.58454,00109,20,92,5,31.0,4.263,inf, nan, nan,0.0,2147483647,-60,6,95,N D6F9 LORA0: ^^KW01,434.712,1,2,48,96,007DE LORA0: SSDV image 176 packet 82 of 114 LORA0: $$KW01,411,23:19:45,51.99410,0.58506,00090,14,90,5,30.9,4.263,inf,51.99411,0.58481,0.0,0,-60,6,95,N

AA24 LORA0: SSDV image 176 packet 83 of 114 LORA0: $$KW01,412,23:19:47,51.99410,0.58519,00084,1,0,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N 1E58 LORA0: SSDV image 176 packet 84 of 114 LORA0: $$KW01,413,23:19:53,51.99410,0.58560,00065,14,90,5,30.9,4.300,inf,51.99410,0.58519,0.0,0,-60,6,95,N*FFFA

Cheers Kev

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KevWal commented 2 years ago

Hi, the 'second run' was a totally independent run of the tracker code. The tracker code exits at the end of the NMEA file, and I re run the program from the command line.

Fyi, I had the same issue on a different set of test data last night, I will re run that today and capture it in a new comment here.

Thanks Kev

On 24 August 2022 08:19:33 BST, Pi In The Sky Project @.***> wrote:

When you say "Playing it back a second time", are you replacing the GPS file while the tracker program is running, or is this a separate run of the tracker?

KevWal commented 2 years ago

Can you send me your NMEA file please, and I'll set this up today. Dave

Hi Dave,

File attached (I had to add .txt at the end to let me upload it), or also linked on gihub in the mesage above.

Cheers Kev

Friday-No-GSV-VTG.NMEA.txt

KevWal commented 2 years ago

Second example (https://github.com/KevWal/pits/blob/develop/nmea/XABEN11.NMEA) re running, currently it is on the way up, it broke on the way down here last night:

image

(where the descent becomes vertical)

KevWal commented 2 years ago

Just caught the break before it scrolled out of the buffer! :)

LORA0: $$KW01,690,12:43:13,52.06396,0.65472,24148,3,0,5,28.1,4.356,1.29,51.96360,1.03043,2.9,4435,0,0,0,N3E5E LORA0: $$KW01,691,12:43:38,52.06362,0.65289,23761,0,0,5,28.0,4.305,1.75,51.94694,1.09340,2.5,5149,0,0,0,NACC0 LORA0: $$KW01,692,12:43:54,52.06353,0.65208,23532,0,0,5,28.1,4.199,1.67,51.94973,1.08321,2.5,5016,0,0,0,N6A25 LORA0: $$KW01,693,12:44:18,52.06343,0.65094,23189,22,265,5,28.3,4.366,inf, nan, nan,0.0,2147483647,0,0,0,NB52C LORA0: $$KW01,695,12:44:51,52.06330,0.64941,22732,22,265,5,28.4,4.252,inf, nan, nan,0.0,2147483647,0,0,0,N8601 LORA0: $$KW01,696,12:45:11,52.06321,0.64857,22427,0,0,5,28.3,4.363,inf, nan, nan,0.0,2147483647,0,0,0,N4276

Will leave it running as yesterday it fixed its self at the very end.

Cheers Kev

PiInTheSky commented 2 years ago

The inf is CDA which implies zero descent rate, so the issue will be somewhere around the use of altitude.

I ran my NMEA twice, no issues. Currently running XABEN11.

Dave

On Wed, 24 Aug 2022 at 14:03, Kevin Walton @.***> wrote:

Just caught the break before it scrolled out of the buffer! :)

LORA0: $$KW01,690,12:43:13,52.06396,0.65472,24148,3,0,5,28.1,4.356,1.29,51.96360,1.03043,2.9,4435,0,0,0,N 3E5E LORA0: $$KW01,691,12:43:38,52.06362,0.65289,23761,0,0,5,28.0,4.305,1.75,51.94694,1.09340,2.5,5149,0,0,0,N ACC0 LORA0: $$KW01,692,12:43:54,52.06353,0.65208,23532,0,0,5,28.1,4.199,1.67,51.94973,1.08321,2.5,5016,0,0,0,N 6A25 LORA0: $$KW01,693,12:44:18,52.06343,0.65094,23189,22,265,5,28.3,4.366,inf, nan, nan,0.0,2147483647,0,0,0,NB52C LORA0: $$KW01,695,12:44:51,52.06330,0.64941,22732,22,265,5,28.4,4.252,inf, nan, nan,0.0,2147483647,0,0,0,N 8601 LORA0: $$KW01,696,12:45:11,52.06321,0.64857,22427,0,0,5,28.3,4.363,inf, nan, nan,0.0,2147483647,0,0,0,N4276

Will leave it running as yesterday it fixed its self at the very end.

Cheers Kev

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KevWal commented 2 years ago

Want to send me your NMEA and I can run here once https://github.com/KevWal/pits/blob/develop/nmea/XABEN11.NMEA is finished?

KevWal commented 2 years ago

XABEN11 now finished here, and as per my run last night, the nan's worked at the very end, but not the inf:

LORA0: $$KW01,927,13:47:06,51.98930,0.95826,00109,0,0,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,NE15C LORA0: $$KW01,928,13:47:09,51.98926,0.95841,00103,39,103,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,NAE8B LORA0: $$KW01,929,13:47:11,51.98918,0.95871,00090,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N9898 LORA0: $$KW01,930,13:47:14,51.98915,0.95886,00083,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N466D

Appretiate you looking into this.

Cheers Kev

daveake commented 2 years ago

Still no inf or nan. I'll run XABEN11 again ...

Can you send your pisky.txt please.

Dave

On Wed, 24 Aug 2022 at 15:22, David Akerman @.***> wrote:

Inf is expected at the end, when the altitude stops reducing. It's not unusual for this to happen before the code recognises the landing and disables the prediction code.

Any inf value prior to landing is wrong.

Dave

On Wed, 24 Aug 2022, 15:15 Kevin Walton, @.***> wrote:

XABEN11 now finished here, and as per my run last night it worked at the very end:

LORA0: $$KW01,927,13:47:06,51.98930,0.95826,00109,0,0,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,N E15C LORA0: $$KW01,928,13:47:09,51.98926,0.95841,00103,39,103,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,NAE8B LORA0: $$KW01,929,13:47:11,51.98918,0.95871,00090,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N 9898 LORA0: $$KW01,930,13:47:14,51.98915,0.95886,00083,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N 466D

Appretiate yuo looking into this.

Cheers Kev

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KevWal commented 2 years ago

Sure - https://github.com/KevWal/pits/blob/develop/boot/pisky.txt

daveake commented 2 years ago

Thanks. Second run with XABEN11 showed no inf or nan. I'll try with your settings next.

On Thu, 25 Aug 2022, 08:26 Kevin Walton, @.***> wrote:

Sure - https://github.com/KevWal/pits/blob/develop/boot/pisky.txt

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daveake commented 2 years ago

Try just printing the values used in the CDA calculation and see what you get.

On Thu, 25 Aug 2022 at 12:19, Kevin Walton @.***> wrote:

This morning I turned all your printf's on inside prediction.c and now I can no longer reproduce it either!

I might just add some 'isnormal()' guards around those values for now so it doesn't break the sentance and keep an eye on it..

Cheers Kev

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KevWal commented 2 years ago

And I now no longer get it to fail, tried both NMEA files, tried printing or not printing debug stuff, just works every time now, and I cant think of anythnig changed!

I have now added some isnormal() code just in case, dont want it breaking again in flight...

        // Landing Prediction, if enabled and not a seperate sentence
        if (Config.EnableLandingPrediction && (Config.PredictionID[0] == '\0'))
        {
                if (!isnormal(GPS->CDA))
                {
                        printf("ERROR: GPS->CDA not normal!\n");
                        GPS->CDA = 0;
                }
                if (!isnormal(GPS->PredictedLatitude))
                {
                        printf("ERROR: GPS->PredictedLatitude not normal!\n");
                        GPS->PredictedLatitude = 0;
                }
                if (!isnormal(GPS->PredictedLongitude))
                {
                        printf("ERROR: GPS->PredictedLongitude not normal!\n");
                        GPS->PredictedLongitude = 0;
                }
                if (!isnormal(GPS->PredictedLandingSpeed))
                {
                        printf("ERROR: GPS->PredictedLandingSpeed\n");
                        GPS->PredictedLandingSpeed = 0;
                }

Thanks for trying to reproduce. I'll come back here if I see it again!

Cheers Kev

PiInTheSky commented 2 years ago

OK, I'll protect the CDA code so if there new CDA is silly then it uses the existing value.

It's based on altitude changes, and is slugged to reduce the effect of GPS noise and vertical wind gusts. Might be an error around there.

Dave

On Thu, 25 Aug 2022, 20:46 Kevin Walton, @.***> wrote:

And I now no longer get it to fail, tried both NMEA files, tried printing or not printing debug stuff, just works every time now, and I cant think of anythnig changed!

I have now added some isnormal() code just in case, dont want it breaking again in flight...

    // Landing Prediction, if enabled and not a seperate sentence
    if (Config.EnableLandingPrediction && (Config.PredictionID[0] == '\0'))
    {
            if (!isnormal(GPS->CDA))
            {
                    printf("ERROR: GPS->CDA not normal!\n");
                    GPS->CDA = 0;
            }
            if (!isnormal(GPS->PredictedLatitude))
            {
                    printf("ERROR: GPS->PredictedLatitude not normal!\n");
                    GPS->PredictedLatitude = 0;
            }
            if (!isnormal(GPS->PredictedLongitude))
            {
                    printf("ERROR: GPS->PredictedLongitude not normal!\n");
                    GPS->PredictedLongitude = 0;
            }
            if (!isnormal(GPS->PredictedLandingSpeed))
            {
                    printf("ERROR: GPS->PredictedLandingSpeed\n");
                    GPS->PredictedLandingSpeed = 0;
            }

Thanks for trying to reproduce. I'll come back here if I see it again!

Cheers Kev

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daveake commented 1 year ago

Inf is expected at the end, when the altitude stops reducing. It's not unusual for this to happen before the code recognises the landing and disables the prediction code.

Any inf value prior to landing is wrong.

Dave

On Wed, 24 Aug 2022, 15:15 Kevin Walton, @.***> wrote:

XABEN11 now finished here, and as per my run last night it worked at the very end:

LORA0: $$KW01,927,13:47:06,51.98930,0.95826,00109,0,0,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,N E15C LORA0: $$KW01,928,13:47:09,51.98926,0.95841,00103,39,103,5,31.0,4.246,inf, nan, nan,0.0,2147483647,0,0,0,NAE8B LORA0: $$KW01,929,13:47:11,51.98918,0.95871,00090,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N 9898 LORA0: $$KW01,930,13:47:14,51.98915,0.95886,00083,0,0,5,31.1,4.246,inf,51.98923,0.95856,0.0,0,0,0,0,N 466D

Appretiate yuo looking into this.

Cheers Kev

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