*
* 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_kalman.h>
+#ifndef AO_MK_STEP_96MS
+#define AO_MK_STEP_96MS 1
+
+#endif
+
+#if AO_MK_STEP_100MS
+#define AO_MK_TIME_STEP 0.1
+
+#define AO_K0_10 AO_MK2_BARO_K0_10
+#define AO_K1_10 AO_MK2_BARO_K1_10
+#define AO_K2_10 AO_MK2_BARO_K2_10
+#endif
+
+#if AO_MK_STEP_96MS
+#define AO_MK_TIME_STEP 0.096
+
+#define AO_K0_10 AO_MK_BARO_K0_10
+#define AO_K1_10 AO_MK_BARO_K1_10
+#define AO_K2_10 AO_MK_BARO_K2_10
+#endif
+
/* Basic time step (96ms) */
-#define AO_MK_STEP to_fix_v(0.096)
+#define AO_MK_STEP to_fix_v(AO_MK_TIME_STEP)
+
/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2 to_fix_v(0.004608)
+#define AO_MK_STEP_2_2 to_fix_v(AO_MK_TIME_STEP * AO_MK_TIME_STEP / 2.0)
uint32_t ao_k_pa; /* 24.8 fixed point */
int32_t ao_k_pa_speed; /* 16.16 fixed point */
e = pa - from_fix8(ao_k_pa);
- ao_k_pa += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
- ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
- ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+ ao_k_pa += fix16_to_fix8((int32_t) e * AO_K0_10);
+ ao_k_pa_speed += (int32_t) e * AO_K1_10;
+ ao_k_pa_accel += (int32_t) e * AO_K2_10;
ao_pa = from_fix8(ao_k_pa);
ao_pa_speed = from_fix(ao_k_pa_speed);
ao_pa_accel = from_fix(ao_k_pa_accel);