X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/d59a052d726ec948737314b6abec6e2073cf7a37..d780d27d699b2ba29a94f30daddd11a928c5653d:/exec/bkgpslog?ds=sidebyside

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 1705ab2..60ab2c1 100755
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -975,20 +975,25 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     # 	errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
-    errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
+    errResetx10e3="$(( ( errResetx10e3 + ( errNSx10e3 * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
 
     # Calculate errRate in nanoseconds per 1000 nanoseconds
     errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";
     
     # Calculate PID control signal
     ## ADJ = K_P * (errNS + errReset/T_I + errRate*T_D)
-    ADJ="$((K_P*(errNSx10e3 + (errResetx10e3/T_I) + (errRatex10e3*T_D) )/10**3))" && vbm "ADJ:$ADJ";
+    ADJ="$((K_P*(errNSx10e3 + (errResetx10e3/T_I) + (errRatex10e3*T_D) )/(10**3)))" && vbm "ADJ:$ADJ";
 
     # Calculate BUFFER_TTL_ADJ_FLOAT from ADJ (ns)
     ## Calculate BUFFER_TTL_ADJ in nanoseconds (BUFFER_TTL_ADJ_NS = BUFFER_TTL_NS + ADJ)
     BUFFER_TTL_ADJ_NS="$((BUFFER_TTL_NS + ADJ))" && vbm "BUFFER_TTL_ADJ_NS:$BUFFER_TTL_ADJ_NS";
     ## Calculate integer seconds
     BUFFER_TTL_ADJ_INT="$((BUFFER_TTL_ADJ_NS/(10**9)))" && vbm "BUFFER_TTL_ADJ_INT:$BUFFER_TTL_ADJ_INT";
+    ### Catch negative integer seconds, set minimum of BUFFER_TTL/10 seconds
+    if [[ "$BUFFER_TTL_ADJ_INT" -le "$((BUFFER_TTL/10))" ]]; then
+	BUFFER_TTL_ADJ_INT="$((BUFFER_TTL/10))";
+	yell "WARNING:Buffer lag adjustment yielded negative seconds.";
+    fi;
     ## Calculate nanosecond remainder
     BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))" && vbm "BUFFER_TTL_ADJ_FLOATFRAC:$BUFFER_TTL_ADJ_FLOATFRAC";
     ## Form float BUFFER_TTL_ADJ_FLOAT
@@ -1310,13 +1315,13 @@ main() {
     CMD_CONV_KML="gpsbabel -i nmea -f - -o kml -F - " && vbm "STATUS:Set CMD_CONV_KML to:$CMD_CONV_KML"; # convert NMEA to KML
 
     # MAIN LOOP:Record gps data until script lifespan ends
-    timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0
+    timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="10.0";
     while [[ "$SECONDS" -lt "$SCRIPT_TTL" ]]; do
 	magicParseRecipientDir;
 	magicGatherWriteBuffer &
-	magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ from BUFFER_TTL given buffer expected start time vs. actual
 	sleep "$BUFFER_TTL_ADJ_FLOAT";
 	((bufferRound++));
+	magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ from BUFFER_TTL given buffer expected start time vs. actual
     done    
 
     # Cleanup