static void ApplyLSF(string predVal)
{
datapoints.Enqueue(new Tuple <int, double>(dataN, double.Parse(predVal)));
if (datapoints.Count > 20)
{
datapoints.Dequeue();
}
if (datapoints.Count >= 2)
{
var func = Fitters.GeneratePolynomialFit(
datapoints.Select(dp => (double)dp.Item1).ToArray(),
datapoints.Select(dp => dp.Item2).ToArray(),
1
);
var pred = func(dataN++);
var needGoUp = pred < -0; // Should the drone go upwards?
var goingUp = double.Parse(predVal) > 0; // Is the drone going upwards?
if (needGoUp && goingUp)
{
bci_client.PutEvent(new BufferEvent("shrdcontrol.prediction", 2, -1));
}
else if (!needGoUp && !goingUp)
{
bci_client.PutEvent(new BufferEvent("shrdcontrol.prediction", -2, -1));
}
else if (needGoUp && !goingUp)
{
// What to do when need to go up, but going down?
bci_client.PutEvent(new BufferEvent("shrdcontrol.prediction", 0, -1));
}
else if (!needGoUp && goingUp)
{
// What if need to go down, but going up?
bci_client.PutEvent(new BufferEvent("shrdcontrol.prediction", 0, -1));
}
}
}
