X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b;hb=2de8922b505f0358a36933721fbddf6a9ef7e9a4;hp=d401a3c8ff5bd04a88c7dea0216d53abcd145589;hpb=cf20e213f39fb24f15e0ac94307c2d138fcadecb;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index d401a3c8..4f4ffe8f 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -24,9 +24,9 @@
 #include "ao_sample.h"
 #include "ao_kalman.h"
 
-static __pdata ao_k_t		ao_k_height;
-static __pdata ao_k_t		ao_k_speed;
-static __pdata ao_k_t		ao_k_accel;
+static ao_k_t		ao_k_height;
+static ao_k_t		ao_k_speed;
+static ao_k_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)
@@ -37,18 +37,24 @@ static __pdata ao_k_t		ao_k_accel;
 #define AO_K_STEP_1		to_fix_v(1)
 #define AO_K_STEP_2_2_1		to_fix_v(0.5)
 
-__pdata ao_v_t			ao_height;
-__pdata ao_v_t			ao_speed;
-__pdata ao_v_t			ao_accel;
-__xdata ao_v_t			ao_max_height;
-static __pdata ao_k_t		ao_avg_height_scaled;
-__xdata ao_v_t			ao_avg_height;
+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 ao_v_t			ao_error_h;
-__pdata ao_v_t			ao_error_h_sq_avg;
+ao_v_t			ao_error_h;
+#if !HAS_ACCEL || AO_FLIGHT_TEST
+#define AO_ERROR_H_SQ_AVG	1
+#endif
+
+#if AO_ERROR_H_SQ_AVG
+ao_v_t			ao_error_h_sq_avg;
+#endif
 
 #if HAS_ACCEL
-__pdata ao_v_t			ao_error_a;
+ao_v_t			ao_error_a;
 #endif
 
 static void
@@ -83,7 +89,9 @@ ao_kalman_predict(void)
 static void
 ao_kalman_err_height(void)
 {
+#if AO_ERROR_H_SQ_AVG
 	ao_v_t	e;
+#endif
 	ao_v_t height_distrust;
 #if HAS_ACCEL
 	ao_v_t	speed_distrust;
@@ -91,15 +99,12 @@ ao_kalman_err_height(void)
 
 	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
@@ -108,13 +113,13 @@ ao_kalman_err_height(void)
 		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) {