test(bkgpslog):Test different PID calc

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 60ab2c193e12a3e028f1aa37d835790849046e99..bf21dfcadd65eb0ffc452cc1fdd4e4635755e5b4 100755 (executable)
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -28,10 +28,10 @@ declare -a argRecPubKeys # for processArguments function
 
 ## Initialize variables
 OPTION_VERBOSE=""; OPTION_ENCRYPT=""; OPTION_COMPRESS=""; OPTION_TMPDIR="";
-errResetx10e3=0; BUFFER_TTL_ADJ_FLOAT="";
+errReset=0; BUFFER_TTL_ADJ_FLOAT="";
 ### PID Control factors
-K_P=10; # Gain for compensating buffer round lag
-T_I=2; # Consider this number of past buffer rounds to eliminate error
+K_P=1; # Gain for compensating buffer round lag
+T_I=1000; # Consider this number of past buffer rounds to eliminate error
 T_D=1; # Predict value this number of buffer rounds into the future
 
 #===BEGIN Declare local script functions===
@@ -954,12 +954,12 @@ magicBufferSleepPID() {
     
     # Calculate Error, errNS, in nanoseconds
     ## Get current time
-    timeBufferStartNS="$(timeEpochNS)" && vbm "timeBufferStartNS:$timeBufferStartNS";
+    timeBufferStartNS="$(timeEpochNS)" && vbm "timeBufferStartNS   :$timeBufferStartNS";
     ## Calculate expected time (from start time, current buffer round number, nominal BUFFER_TTL)
     timeBufferStartNSExp="$(( (timeBufferFirstNS) + (BUFFER_TTL_NS * bufferRound) ))" && vbm "timeBufferStartNSExp:$timeBufferStartNSExp";
     ## Calculate error (diff between timeBufferStartNSExp and timeBufferStartNS; usually negative)
     errNS="$(( timeBufferStartNSExp - timeBufferStartNS ))" && vbm "errNS:$errNS";
-    errNSx10e3="$((errNS*10**3))" && vbm "errNSx10e3:$errNSx10e3";
+#    errNSx10e3="$((errNS*10**3))" && vbm "errNSx10e3:$errNSx10e3";
     # ## Append error to errorHistory
     # errorHistory+=("errNS");
     # ### Trim errorHistory array if over errorHistorySize
@@ -975,14 +975,17 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     #  errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
-    errResetx10e3="$(( ( errResetx10e3 + ( errNSx10e3 * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
+    errReset="$(( (errReset + (errNS*BUFFER_TTL_NS)) ))" && vbm "errResetTerm:$errResetTerm";
+#    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 errRate in nanoseconds per nanosecond
+    errRate="$(( errNS / BUFFER_TTL_NS ))" && vbm "errRateTerm:$errRateTerm";
+#    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="$(( K_P*(errNS + errReset/T_I + errRate*T_D) ))" && vbm "ADJ:$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)