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altos/stm: Note that ao_i2c_recv_dma_isr isn't actually used
[fw/altos]
/
src
/
kernel
/
ao_kalman.c
diff --git
a/src/kernel/ao_kalman.c
b/src/kernel/ao_kalman.c
index 82315c485de086b7f3b0cb64a462a878ac620119..4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b 100644
(file)
--- a/
src/kernel/ao_kalman.c
+++ b/
src/kernel/ao_kalman.c
@@
-24,9
+24,9
@@
#include "ao_sample.h"
#include "ao_kalman.h"
#include "ao_sample.h"
#include "ao_kalman.h"
-static
__pdata
ao_k_t ao_k_height;
-static
__pdata
ao_k_t ao_k_speed;
-static
__pdata
ao_k_t ao_k_accel;
+static ao_k_t ao_k_height;
+static ao_k_t ao_k_speed;
+static ao_k_t ao_k_accel;
#define AO_K_STEP_100 to_fix_v(0.01)
#define AO_K_STEP_2_2_100 to_fix_v(0.00005)
#define AO_K_STEP_100 to_fix_v(0.01)
#define AO_K_STEP_2_2_100 to_fix_v(0.00005)
@@
-37,18
+37,24
@@
static __pdata ao_k_t ao_k_accel;
#define AO_K_STEP_1 to_fix_v(1)
#define AO_K_STEP_2_2_1 to_fix_v(0.5)
#define AO_K_STEP_1 to_fix_v(1)
#define AO_K_STEP_2_2_1 to_fix_v(0.5)
-
__pdata
ao_v_t ao_height;
-
__pdata
ao_v_t ao_speed;
-
__pdata
ao_v_t ao_accel;
-
__xdata
ao_v_t ao_max_height;
-static
__pdata
ao_k_t ao_avg_height_scaled;
-
__xdata
ao_v_t ao_avg_height;
+ao_v_t ao_height;
+ao_v_t ao_speed;
+ao_v_t ao_accel;
+ao_v_t ao_max_height;
+static ao_k_t ao_avg_height_scaled;
+ao_v_t ao_avg_height;
-__pdata ao_v_t ao_error_h;
-__pdata ao_v_t ao_error_h_sq_avg;
+ao_v_t ao_error_h;
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG 1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
+ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
#if HAS_ACCEL
-
__pdata
ao_v_t ao_error_a;
+ao_v_t ao_error_a;
#endif
static void
#endif
static void
@@
-83,7
+89,9
@@
ao_kalman_predict(void)
static void
ao_kalman_err_height(void)
{
static void
ao_kalman_err_height(void)
{
+#if AO_ERROR_H_SQ_AVG
ao_v_t e;
ao_v_t e;
+#endif
ao_v_t height_distrust;
#if HAS_ACCEL
ao_v_t speed_distrust;
ao_v_t height_distrust;
#if HAS_ACCEL
ao_v_t speed_distrust;
@@
-91,6
+99,7
@@
ao_kalman_err_height(void)
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
+#if AO_ERROR_H_SQ_AVG
e = ao_error_h;
if (e < 0)
e = -e;
e = ao_error_h;
if (e < 0)
e = -e;
@@
-98,6
+107,7
@@
ao_kalman_err_height(void)
e = 127;
ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
ao_error_h_sq_avg += (e * e) >> 4;
e = 127;
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;
if (ao_flight_state >= ao_flight_drogue)
return;