+++ /dev/null
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include "ao_flight.h"
-#endif
-
-#include "ao_sample.h"
-#include "ao_kalman.h"
-
-
-static __pdata int32_t ao_k_height;
-static __pdata int32_t ao_k_speed;
-static __pdata int32_t ao_k_accel;
-
-#define AO_K_STEP_100 to_fix16(0.01)
-#define AO_K_STEP_2_2_100 to_fix16(0.00005)
-
-#define AO_K_STEP_10 to_fix16(0.1)
-#define AO_K_STEP_2_2_10 to_fix16(0.005)
-
-#define AO_K_STEP_1 to_fix16(1)
-#define AO_K_STEP_2_2_1 to_fix16(0.5)
-
-__pdata int16_t ao_height;
-__pdata int16_t ao_speed;
-__pdata int16_t ao_accel;
-__xdata int16_t ao_max_height;
-static __pdata int32_t ao_avg_height_scaled;
-__xdata int16_t ao_avg_height;
-
-__pdata int16_t ao_error_h;
-__pdata int16_t ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-__pdata int16_t ao_error_a;
-#endif
-
-static void
-ao_kalman_predict(void)
-{
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_1 +
- (int32_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_1;
-
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_10 +
- (int32_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_10;
-
- return;
- }
- if (ao_flight_debug) {
- printf ("predict speed %g + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
- (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
- }
-#endif
- ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
- (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
- ao_k_speed += (int32_t) ao_accel * AO_K_STEP_100;
-}
-
-static void
-ao_kalman_err_height(void)
-{
- int16_t e;
- int16_t height_distrust;
-#if HAS_ACCEL
- int16_t speed_distrust;
-#endif
-
- ao_error_h = ao_sample_height - (int16_t) (ao_k_height >> 16);
-
- e = ao_error_h;
- if (e < 0)
- e = -e;
- if (e > 127)
- e = 127;
-#if HAS_ACCEL
- ao_error_h_sq_avg -= ao_error_h_sq_avg >> 2;
- ao_error_h_sq_avg += (e * e) >> 2;
-#else
- ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
- ao_error_h_sq_avg += (e * e) >> 4;
-#endif
-
- if (ao_flight_state >= ao_flight_drogue)
- return;
- height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
-#if HAS_ACCEL
- /* speed is stored * 16, but we need to ramp between 200 and 328, so
- * we want to multiply by 2. The result is a shift by 3.
- */
- speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1);
- if (speed_distrust <= 0)
- speed_distrust = 0;
- else if (speed_distrust > height_distrust)
- height_distrust = speed_distrust;
-#endif
- if (height_distrust > 0) {
-#ifdef AO_FLIGHT_TEST
- int old_ao_error_h = ao_error_h;
-#endif
- if (height_distrust > 0x100)
- height_distrust = 0x100;
- ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
-#ifdef AO_FLIGHT_TEST
- if (ao_flight_debug) {
- printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
- (double) (ao_sample_alt - AO_MAX_BARO_HEIGHT),
- (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
- height_distrust / 256.0,
- old_ao_error_h, ao_error_h);
- }
-#endif
- }
-}
-
-static void
-ao_kalman_correct_baro(void)
-{
- ao_kalman_err_height();
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- ao_k_height += (int32_t) AO_BARO_K0_1 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_1 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_1 * ao_error_h;
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height += (int32_t) AO_BARO_K0_10 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_10 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_10 * ao_error_h;
- return;
- }
-#endif
- ao_k_height += (int32_t) AO_BARO_K0_100 * ao_error_h;
- ao_k_speed += (int32_t) AO_BARO_K1_100 * ao_error_h;
- ao_k_accel += (int32_t) AO_BARO_K2_100 * ao_error_h;
-}
-
-#if HAS_ACCEL
-
-static void
-ao_kalman_err_accel(void)
-{
- int32_t accel;
-
- accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
-
- /* Can't use ao_accel here as it is the pre-prediction value still */
- ao_error_a = (accel - ao_k_accel) >> 16;
-}
-
-#ifndef FORCE_ACCEL
-static void
-ao_kalman_correct_both(void)
-{
- ao_kalman_err_height();
- ao_kalman_err_accel();
-
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50) {
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_1 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_1 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a) / (65536.0 * 16.0));
- }
- ao_k_height +=
- (int32_t) AO_BOTH_K00_1 * ao_error_h +
- (int32_t) AO_BOTH_K01_1 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_1 * ao_error_h +
- (int32_t) AO_BOTH_K11_1 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_1 * ao_error_h +
- (int32_t) AO_BOTH_K21_1 * ao_error_a;
- return;
- }
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
- }
- ao_k_height +=
- (int32_t) AO_BOTH_K00_10 * ao_error_h +
- (int32_t) AO_BOTH_K01_10 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_10 * ao_error_h +
- (int32_t) AO_BOTH_K11_10 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_10 * ao_error_h +
- (int32_t) AO_BOTH_K21_10 * ao_error_a;
- return;
- }
- if (ao_flight_debug) {
- printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
- ao_k_speed / (65536.0 * 16.0),
- (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
- (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
- (ao_k_speed +
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
- }
-#endif
- ao_k_height +=
- (int32_t) AO_BOTH_K00_100 * ao_error_h +
- (int32_t) AO_BOTH_K01_100 * ao_error_a;
- ao_k_speed +=
- (int32_t) AO_BOTH_K10_100 * ao_error_h +
- (int32_t) AO_BOTH_K11_100 * ao_error_a;
- ao_k_accel +=
- (int32_t) AO_BOTH_K20_100 * ao_error_h +
- (int32_t) AO_BOTH_K21_100 * ao_error_a;
-}
-
-#else
-
-static void
-ao_kalman_correct_accel(void)
-{
- ao_kalman_err_accel();
-
- if (ao_sample_tick - ao_sample_prev_tick > 5) {
- ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
- return;
- }
- ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
- ao_k_speed += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
- ao_k_accel += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
-}
-
-#endif /* else FORCE_ACCEL */
-#endif /* HAS_ACCEL */
-
-void
-ao_kalman(void)
-{
- ao_kalman_predict();
-#if HAS_ACCEL
- if (ao_flight_state <= ao_flight_coast) {
-#ifdef FORCE_ACCEL
- ao_kalman_correct_accel();
-#else
- ao_kalman_correct_both();
-#endif
- } else
-#endif
- ao_kalman_correct_baro();
- ao_height = from_fix(ao_k_height);
- ao_speed = from_fix(ao_k_speed);
- ao_accel = from_fix(ao_k_accel);
- if (ao_height > ao_max_height)
- ao_max_height = ao_height;
- ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
-#ifdef AO_FLIGHT_TEST
- if (ao_sample_tick - ao_sample_prev_tick > 50)
- ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
- else if (ao_sample_tick - ao_sample_prev_tick > 5)
- ao_avg_height = (ao_avg_height_scaled + 7) >> 4;
- else
-#endif
- ao_avg_height = (ao_avg_height_scaled + 63) >> 7;
-}
projects / fw / altos / blobdiff