2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #ifndef AO_FLIGHT_TEST
21 #include "ao_flight.h"
24 #include "ao_sample.h"
25 #include "ao_kalman.h"
27 static __pdata ao_k_t ao_k_height;
28 static __pdata ao_k_t ao_k_speed;
29 static __pdata ao_k_t ao_k_accel;
31 #define AO_K_STEP_100 to_fix_v(0.01)
32 #define AO_K_STEP_2_2_100 to_fix_v(0.00005)
34 #define AO_K_STEP_10 to_fix_v(0.1)
35 #define AO_K_STEP_2_2_10 to_fix_v(0.005)
37 #define AO_K_STEP_1 to_fix_v(1)
38 #define AO_K_STEP_2_2_1 to_fix_v(0.5)
40 __pdata ao_v_t ao_height;
41 __pdata ao_v_t ao_speed;
42 __pdata ao_v_t ao_accel;
43 __xdata ao_v_t ao_max_height;
44 static __pdata ao_k_t ao_avg_height_scaled;
45 __xdata ao_v_t ao_avg_height;
47 __pdata ao_v_t ao_error_h;
48 __pdata ao_v_t ao_error_h_sq_avg;
51 __pdata ao_v_t ao_error_a;
55 ao_kalman_predict(void)
58 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
59 ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
60 (ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
61 ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
65 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
66 ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
67 (ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
68 ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
72 if (ao_flight_debug) {
73 printf ("predict speed %g + (%g * %g) = %g\n",
74 ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
75 (ao_k_speed + (ao_k_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
78 ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 +
79 (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
80 ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
84 ao_kalman_err_height(void)
87 ao_v_t height_distrust;
89 ao_v_t speed_distrust;
92 ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
99 ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
100 ao_error_h_sq_avg += (e * e) >> 4;
102 if (ao_flight_state >= ao_flight_drogue)
104 height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
106 /* speed is stored * 16, but we need to ramp between 248 and 328, so
107 * we want to multiply by 2. The result is a shift by 3.
109 speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
110 if (speed_distrust > AO_MAX_SPEED_DISTRUST)
111 speed_distrust = AO_MAX_SPEED_DISTRUST;
112 if (speed_distrust > height_distrust)
113 height_distrust = speed_distrust;
115 if (height_distrust > 0) {
116 #ifdef AO_FLIGHT_TEST
117 int old_ao_error_h = ao_error_h;
119 if (height_distrust > 0x100)
120 height_distrust = 0x100;
121 ao_error_h = (ao_v_t) (((ao_k_t) ao_error_h * (0x100 - height_distrust)) >> 8);
122 #ifdef AO_FLIGHT_TEST
123 if (ao_flight_debug) {
124 printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
125 (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
126 (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
127 height_distrust / 256.0,
128 old_ao_error_h, ao_error_h);
135 ao_kalman_correct_baro(void)
137 ao_kalman_err_height();
138 #ifdef AO_FLIGHT_TEST
139 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
140 ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
141 ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
142 ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
145 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
146 ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
147 ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
148 ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
152 ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h;
153 ao_k_speed += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
154 ao_k_accel += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
160 ao_kalman_err_accel(void)
164 accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
166 /* Can't use ao_accel here as it is the pre-prediction value still */
167 ao_error_a = (accel - ao_k_accel) >> 16;
172 ao_kalman_correct_both(void)
174 ao_kalman_err_height();
175 ao_kalman_err_accel();
177 #ifdef AO_FLIGHT_TEST
178 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50) {
179 if (ao_flight_debug) {
180 printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
181 ao_k_speed / (65536.0 * 16.0),
182 (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
183 (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
185 (ao_k_t) AO_BOTH_K10_1 * ao_error_h +
186 (ao_k_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
189 (ao_k_t) AO_BOTH_K00_1 * ao_error_h +
190 (ao_k_t) AO_BOTH_K01_1 * ao_error_a;
192 (ao_k_t) AO_BOTH_K10_1 * ao_error_h +
193 (ao_k_t) AO_BOTH_K11_1 * ao_error_a;
195 (ao_k_t) AO_BOTH_K20_1 * ao_error_h +
196 (ao_k_t) AO_BOTH_K21_1 * ao_error_a;
199 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
200 if (ao_flight_debug) {
201 printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
202 ao_k_speed / (65536.0 * 16.0),
203 (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
204 (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
206 (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
207 (ao_k_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
210 (ao_k_t) AO_BOTH_K00_10 * ao_error_h +
211 (ao_k_t) AO_BOTH_K01_10 * ao_error_a;
213 (ao_k_t) AO_BOTH_K10_10 * ao_error_h +
214 (ao_k_t) AO_BOTH_K11_10 * ao_error_a;
216 (ao_k_t) AO_BOTH_K20_10 * ao_error_h +
217 (ao_k_t) AO_BOTH_K21_10 * ao_error_a;
220 if (ao_flight_debug) {
221 printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
222 ao_k_speed / (65536.0 * 16.0),
223 (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
224 (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
226 (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
227 (ao_k_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
231 (ao_k_t) AO_BOTH_K00_100 * ao_error_h +
232 (ao_k_t) AO_BOTH_K01_100 * ao_error_a;
234 (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
235 (ao_k_t) AO_BOTH_K11_100 * ao_error_a;
237 (ao_k_t) AO_BOTH_K20_100 * ao_error_h +
238 (ao_k_t) AO_BOTH_K21_100 * ao_error_a;
244 ao_kalman_correct_accel(void)
246 ao_kalman_err_accel();
248 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5) {
249 ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
250 ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
251 ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
254 ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
255 ao_k_speed += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
256 ao_k_accel += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
259 #endif /* else FORCE_ACCEL */
260 #endif /* HAS_ACCEL */
267 if (ao_flight_state <= ao_flight_coast) {
269 ao_kalman_correct_accel();
271 ao_kalman_correct_both();
275 ao_kalman_correct_baro();
276 ao_height = from_fix(ao_k_height);
277 ao_speed = from_fix(ao_k_speed);
278 ao_accel = from_fix(ao_k_accel);
279 if (ao_height > ao_max_height)
280 ao_max_height = ao_height;
281 ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
282 #ifdef AO_FLIGHT_TEST
283 if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
284 ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
285 else if ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 5)
286 ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
289 ao_avg_height = (ao_avg_height_scaled + 63) >> 7;