X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_flight.c;h=88f0544f83a076ce4a702a966c23c0703c3376a9;hb=dea80af81b388cc3d7073444919f4e98b12fa730;hp=7f194e04d59c6a793a576a2b12504b843ce1812b;hpb=f3053b1f3c85d4fd84b3c6cc87858f433166df34;p=fw%2Faltos

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 7f194e04..88f0544f 100644
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -140,7 +140,7 @@ static __pdata int32_t		ao_k_accel;
 /*
  * Above this speed, baro measurements are unreliable
  */
-#define AO_MAX_BARO_SPEED	300
+#define AO_MAX_BARO_SPEED	200
 
 static void
 ao_kalman_predict(void)
@@ -153,6 +153,11 @@ ao_kalman_predict(void)
 
 		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));
+	}
 #endif
 	ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
 			(int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
@@ -180,12 +185,20 @@ 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
 
 	height_distrust = ao_raw_height - AO_MAX_BARO_HEIGHT;
 #if HAS_ACCEL
-	speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> 4;
+	/* speed is stored * 16, but we need to ramp between 200 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)
@@ -195,9 +208,21 @@ ao_kalman_err_height(void)
 		height_distrust = 0;
 
 	if (height_distrust) {
+#ifdef AO_FLIGHT_TEST
+		int	old_ao_error_h = ao_error_h;
+#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 = (int16_t) (((int32_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",
+			       (double) (ao_raw_height - AO_MAX_BARO_HEIGHT),
+			       (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
+			       height_distrust / 256.0,
+			       old_ao_error_h, ao_error_h);
+		}
+#endif
 	}
 }
 
@@ -241,17 +266,35 @@ ao_kalman_correct_both(void)
 
 #ifdef AO_FLIGHT_TEST
 	if (ao_flight_tick - ao_flight_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_height +=
 			(int32_t) AO_BOTH_K00_10 * ao_error_h +
-			(int32_t) (AO_BOTH_K01_10 >> 4) * ao_error_a;
+			(int32_t) AO_BOTH_K01_10 * ao_error_a;
 		ao_k_speed +=
-			((int32_t) AO_BOTH_K10_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K10_10 * ao_error_h +
 			(int32_t) AO_BOTH_K11_10 * ao_error_a;
 		ao_k_accel +=
-			((int32_t) AO_BOTH_K20_10 << 4) * ao_error_h +
+			(int32_t) AO_BOTH_K20_10 * ao_error_h +
 			(int32_t) AO_BOTH_K21_10 * ao_error_a;
 		return;
 	}
+	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_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));
+	}
 #endif
 	ao_k_height +=
 		(int32_t) AO_BOTH_K00_100 * ao_error_h +
@@ -264,23 +307,23 @@ ao_kalman_correct_both(void)
 		(int32_t) AO_BOTH_K21_100 * ao_error_a;
 }
 
+#ifdef FORCE_ACCEL
 static void
 ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
-#ifdef AO_FLIGHT_TEST
 	if (ao_flight_tick - ao_flight_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;
 		return;
 	}
-#endif
 	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
 #endif /* HAS_ACCEL */
 
 __xdata int32_t ao_raw_pres_sum;
@@ -567,23 +610,30 @@ ao_flight(void)
 			if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
 			{
+#if HAS_ACCEL
 				ao_flight_state = ao_flight_fast;
+#else
+				ao_flight_state = ao_flight_coast;
+#endif
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
 			break;
+#if HAS_ACCEL
 		case ao_flight_fast:
 			/*
 			 * This is essentially the same as coast,
 			 * but the barometer is being ignored as
 			 * it may be unreliable.
 			 */
-			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) {
+			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
+			{
 				ao_flight_state = ao_flight_coast;
 				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 				break;
 			}
 			break;
+#endif
 		case ao_flight_coast:
 
 			/* apogee detect: coast to drogue deploy:
@@ -594,7 +644,11 @@ ao_flight(void)
 			 * the measured altitude reasonably closely; otherwise
 			 * we're probably transsonic.
 			 */
-			if (ao_speed < 0 && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100))
+			if (ao_speed < 0
+#if !HAS_ACCEL
+			    && (ao_raw_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+#endif
+				)
 			{
 				/* ignite the drogue charge */
 				ao_ignite(ao_igniter_drogue);