X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_kalman.c;fp=src%2Fcore%2Fao_kalman.c;h=0000000000000000000000000000000000000000;hp=9aea1f14762f6139d9fb8dce932b98a6c946068d;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c deleted file mode 100644 index 9aea1f14..00000000 --- a/src/core/ao_kalman.c +++ /dev/null @@ -1,295 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * 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; -}