X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_microkalman.c;fp=src%2Fcore%2Fao_microkalman.c;h=0000000000000000000000000000000000000000;hp=0684ea2bbaad4b03e747ab6421b83dce885a78b3;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b

diff --git a/src/core/ao_microkalman.c b/src/core/ao_microkalman.c
deleted file mode 100644
index 0684ea2b..00000000
--- a/src/core/ao_microkalman.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2013 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>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS	16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x)	((x) >> 8)
-#define from_fix(x)	((x) >> 16)
-#define fix8_to_fix16(x)	((x) << 8)
-#define fix16_to_fix8(x)	((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP	to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2	to_fix16(0.004608)
-
-uint32_t	ao_k_pa;		/* 24.8 fixed point */
-int32_t		ao_k_pa_speed;		/* 16.16 fixed point */
-int32_t		ao_k_pa_accel;		/* 16.16 fixed point */
-
-uint32_t	ao_pa;			/* integer portion */
-int16_t		ao_pa_speed;		/* integer portion */
-int16_t		ao_pa_accel;		/* integer portion */
-
-void
-ao_microkalman_init(void)
-{
-	ao_pa = pa;
-	ao_k_pa = pa << 8;
-}	
-
-void
-ao_microkalman_predict(void)
-{
-	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
-	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
-	int16_t	e;	/* Height error in Pa */
-
-	e = pa - from_fix8(ao_k_pa);
-
-	ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
-	ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
-	ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
-	ao_pa = from_fix8(ao_k_pa);
-	ao_pa_speed = from_fix(ao_k_pa_speed);
-	ao_pa_accel = from_fix(ao_k_pa_accel);
-}