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