*
* 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
#include "ao_sample.h"
#include "ao_kalman.h"
+static ao_k_t ao_k_height;
+static ao_k_t ao_k_speed;
+static ao_k_t ao_k_accel;
-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_fix_v(0.01)
+#define AO_K_STEP_2_2_100 to_fix_v(0.00005)
-#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_fix_v(0.1)
+#define AO_K_STEP_2_2_10 to_fix_v(0.005)
-#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_fix_v(1)
+#define AO_K_STEP_2_2_1 to_fix_v(0.5)
-#define AO_K_STEP_1 to_fix16(1)
-#define AO_K_STEP_2_2_1 to_fix16(0.5)
+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 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;
+ao_v_t ao_error_h;
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG 1
+#endif
-__pdata int16_t ao_error_h;
-__pdata int16_t ao_error_h_sq_avg;
+#if AO_ERROR_H_SQ_AVG
+ao_v_t ao_error_h_sq_avg;
+#endif
#if HAS_ACCEL
-__pdata int16_t ao_error_a;
+ao_v_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;
+ 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) {
- 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;
+ 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;
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));
+ (ao_k_speed + (ao_k_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;
+ ao_k_height += ((ao_k_t) ao_speed * AO_K_STEP_100 +
+ (ao_k_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
+ ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
}
+#if HAS_BARO
static void
ao_kalman_err_height(void)
{
- int16_t e;
- int16_t height_distrust;
+#if AO_ERROR_H_SQ_AVG
+ ao_v_t e;
+#endif
+ ao_v_t height_distrust;
#if HAS_ACCEL
- int16_t speed_distrust;
+ ao_v_t speed_distrust;
#endif
- ao_error_h = ao_sample_height - (int16_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;
-#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
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) {
#endif
if (height_distrust > 0x100)
height_distrust = 0x100;
- ao_error_h = (int16_t) (((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8);
+ ao_error_h = (ao_v_t) (((ao_k_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",
#endif
}
}
+#endif
+#if HAS_BARO
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;
+ 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) {
- 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;
+ 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;
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;
+ ao_k_height += (ao_k_t) AO_BARO_K0_100 * ao_error_h;
+ ao_k_speed += (ao_k_t) AO_BARO_K1_100 * ao_error_h;
+ ao_k_accel += (ao_k_t) AO_BARO_K2_100 * ao_error_h;
}
+#endif
#if HAS_ACCEL
static void
ao_kalman_err_accel(void)
{
- int32_t accel;
+ ao_k_t accel;
accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale;
ao_error_a = (accel - ao_k_accel) >> 16;
}
-#ifndef FORCE_ACCEL
+#if !defined(FORCE_ACCEL) && HAS_BARO
static void
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),
(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_t) AO_BOTH_K10_1 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K00_1 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K10_1 * ao_error_h +
+ (ao_k_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;
+ (ao_k_t) AO_BOTH_K20_1 * ao_error_h +
+ (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),
(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_t) AO_BOTH_K10_10 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K00_10 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K10_10 * ao_error_h +
+ (ao_k_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;
+ (ao_k_t) AO_BOTH_K20_10 * ao_error_h +
+ (ao_k_t) AO_BOTH_K21_10 * ao_error_a;
return;
}
if (ao_flight_debug) {
(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));
+ (ao_k_t) AO_BOTH_K10_100 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K00_100 * ao_error_h +
+ (ao_k_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_t) AO_BOTH_K10_100 * ao_error_h +
+ (ao_k_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;
+ (ao_k_t) AO_BOTH_K20_100 * ao_error_h +
+ (ao_k_t) AO_BOTH_K21_100 * ao_error_a;
}
#else
{
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;
+#ifdef AO_FLIGHT_TEST
+ 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;
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
+ ao_k_height += (ao_k_t) AO_ACCEL_K0_100 * ao_error_a;
+ ao_k_speed += (ao_k_t) AO_ACCEL_K1_100 * ao_error_a;
+ ao_k_accel += (ao_k_t) AO_ACCEL_K2_100 * ao_error_a;
}
#endif /* else FORCE_ACCEL */
#endif /* HAS_ACCEL */
+#if !HAS_BARO
+static ao_k_t ao_k_height_prev;
+static ao_k_t ao_k_speed_prev;
+
+/*
+ * While in pad mode without a barometric sensor, remove accumulated
+ * speed and height values to reduce the effect of systematic sensor
+ * error
+ */
+void
+ao_kalman_reset_accumulate(void)
+{
+ ao_k_height -= ao_k_height_prev;
+ ao_k_speed -= ao_k_speed_prev;
+ ao_k_height_prev = ao_k_height;
+ ao_k_speed_prev = ao_k_speed;
+}
+#endif
+
void
ao_kalman(void)
{
ao_kalman_predict();
+#if HAS_BARO
#if HAS_ACCEL
if (ao_flight_state <= ao_flight_coast) {
#ifdef FORCE_ACCEL
} else
#endif
ao_kalman_correct_baro();
+#else
+#if HAS_ACCEL
+ ao_kalman_correct_accel();
+#endif
+#endif
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;
+#if HAS_BARO
ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height;
+#else
+ ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height;
+#endif
#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