__xdata ao_v_t ao_avg_height;
__pdata ao_v_t ao_error_h;
+#if !HAS_ACCEL
__pdata ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
__pdata ao_v_t ao_error_a;
static void
ao_kalman_err_height(void)
{
+#if !HAS_ACCEL
ao_v_t e;
+#endif
ao_v_t height_distrust;
#if HAS_ACCEL
ao_v_t speed_distrust;
ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
+#if !HAS_ACCEL
e = ao_error_h;
if (e < 0)
e = -e;
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;
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
+ /* speed is stored * 16, but we need to ramp between 248 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)
+ 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) {