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altos: Build telefireone-v1.0 by default
[fw/altos]
/
src
/
kernel
/
ao_kalman.c
diff --git
a/src/kernel/ao_kalman.c
b/src/kernel/ao_kalman.c
index 7b0f8145d807ce74bd5db66c0d23408251a8d745..4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b 100644
(file)
--- a/
src/kernel/ao_kalman.c
+++ b/
src/kernel/ao_kalman.c
@@
-3,7
+3,8
@@
*
* 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
*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-23,9
+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)
@@
-36,32
+37,38
@@
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
ao_kalman_predict(void)
{
#ifdef AO_FLIGHT_TEST
#endif
static void
ao_kalman_predict(void)
{
#ifdef AO_FLIGHT_TEST
- if (
ao_sample_tick - ao_sample_prev_tick
> 50) {
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 50) {
ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
return;
}
ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_1 +
(ao_k_t) ao_accel * AO_K_STEP_2_2_1) >> 4;
ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_1;
return;
}
- if (
ao_sample_tick - ao_sample_prev_tick
> 5) {
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 5) {
ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_10 +
(ao_k_t) ao_accel * AO_K_STEP_2_2_10) >> 4;
ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_10;
@@
-82,7
+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;
@@
-90,15
+99,12
@@
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;
if (e > 127)
e = 127;
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
ao_error_h_sq_avg -= ao_error_h_sq_avg >> 4;
ao_error_h_sq_avg += (e * e) >> 4;
#endif
@@
-107,13
+113,13
@@
ao_kalman_err_height(void)
return;
height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
#if HAS_ACCEL
return;
height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT;
#if HAS_ACCEL
- /* speed is stored * 16, but we need to ramp between 2
00
and 328, so
+ /* speed is stored * 16, but we need to ramp between 2
48
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);
* 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)
+ if (speed_distrust
> AO_MAX_SPEED_DISTRUST
)
+ speed_distrust =
AO_MAX_SPEED_DISTRUST
;
+ if (speed_distrust > height_distrust)
height_distrust = speed_distrust;
#endif
if (height_distrust > 0) {
height_distrust = speed_distrust;
#endif
if (height_distrust > 0) {
@@
-140,13
+146,13
@@
ao_kalman_correct_baro(void)
{
ao_kalman_err_height();
#ifdef AO_FLIGHT_TEST
{
ao_kalman_err_height();
#ifdef AO_FLIGHT_TEST
- if (
ao_sample_tick - ao_sample_prev_tick
> 50) {
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 50) {
ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
return;
}
ao_k_height += (ao_k_t) AO_BARO_K0_1 * ao_error_h;
ao_k_speed += (ao_k_t) AO_BARO_K1_1 * ao_error_h;
ao_k_accel += (ao_k_t) AO_BARO_K2_1 * ao_error_h;
return;
}
- if (
ao_sample_tick - ao_sample_prev_tick
> 5) {
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 5) {
ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
ao_k_height += (ao_k_t) AO_BARO_K0_10 * ao_error_h;
ao_k_speed += (ao_k_t) AO_BARO_K1_10 * ao_error_h;
ao_k_accel += (ao_k_t) AO_BARO_K2_10 * ao_error_h;
@@
-179,7
+185,7
@@
ao_kalman_correct_both(void)
ao_kalman_err_accel();
#ifdef AO_FLIGHT_TEST
ao_kalman_err_accel();
#ifdef AO_FLIGHT_TEST
- if (
ao_sample_tick - ao_sample_prev_tick
> 50) {
+ if (
(int16_t) (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),
if (ao_flight_debug) {
printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
ao_k_speed / (65536.0 * 16.0),
@@
-200,7
+206,7
@@
ao_kalman_correct_both(void)
(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
return;
}
(ao_k_t) AO_BOTH_K21_1 * ao_error_a;
return;
}
- if (
ao_sample_tick - ao_sample_prev_tick
> 5) {
+ if (
(int16_t) (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),
if (ao_flight_debug) {
printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
ao_k_speed / (65536.0 * 16.0),
@@
-249,7
+255,7
@@
ao_kalman_correct_accel(void)
{
ao_kalman_err_accel();
{
ao_kalman_err_accel();
- if (
ao_sample_tick - ao_sample_prev_tick
> 5) {
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 5) {
ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
ao_k_height +=(ao_k_t) AO_ACCEL_K0_10 * ao_error_a;
ao_k_speed += (ao_k_t) AO_ACCEL_K1_10 * ao_error_a;
ao_k_accel += (ao_k_t) AO_ACCEL_K2_10 * ao_error_a;
@@
-284,9
+290,9
@@
ao_kalman(void)
ao_max_height = ao_height;
ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
#ifdef AO_FLIGHT_TEST
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)
+ if (
(int16_t) (ao_sample_tick - ao_sample_prev_tick)
> 50)
ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
ao_avg_height = (ao_avg_height_scaled + 1) >> 1;
- else if (
ao_sample_tick - ao_sample_prev_tick
> 5)
+ else if (
(int16_t) (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 + 7) >> 4;
else
#endif