altos: Eliminate separate height error filter for accelerometer devices

[fw/altos] / src / kernel / ao_kalman.c

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 69a1b3de6ddc9a32350605e7e31f19b9b4c198da..87f1bf66f6147e372edad8a94513802aa11c1774 100644 (file)
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -55,14 +55,14 @@ 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;
        }
-       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;
@@ -96,13 +96,8 @@ ao_kalman_err_height(void)
                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;
@@ -141,13 +136,13 @@ ao_kalman_correct_baro(void)
 {
        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;
        }
-       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;
@@ -180,7 +175,7 @@ ao_kalman_correct_both(void)
        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),
@@ -201,7 +196,7 @@ ao_kalman_correct_both(void)
                        (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),
@@ -250,7 +245,7 @@ ao_kalman_correct_accel(void)
 {
        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;
@@ -285,9 +280,9 @@ 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
-       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;
-       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