X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=f93f5aba94f1daa17d2830d7ce42969e6617111e;hb=236d80fac2b4293c5750c9d80b387afd4d0fc5cc;hp=4f4ffe8f1b6a813b532cd4fe751ed6d684f34b6b;hpb=c6e57291d91f1f6c4de5c54a5cfd3eef66d9f830;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index 4f4ffe8f..f93f5aba 100644
--- a/src/kernel/ao_kalman.c
+++ b/src/kernel/ao_kalman.c
@@ -86,6 +86,7 @@ ao_kalman_predict(void)
 	ao_k_speed += (ao_k_t) ao_accel * AO_K_STEP_100;
 }
 
+#if HAS_BARO
 static void
 ao_kalman_err_height(void)
 {
@@ -140,7 +141,9 @@ ao_kalman_err_height(void)
 #endif
 	}
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
@@ -163,6 +166,7 @@ ao_kalman_correct_baro(void)
 	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
 
@@ -177,7 +181,7 @@ ao_kalman_err_accel(void)
 	ao_error_a = (accel - ao_k_accel) >> 16;
 }
 
-#ifndef FORCE_ACCEL
+#if !defined(FORCE_ACCEL) && HAS_BARO
 static void
 ao_kalman_correct_both(void)
 {
@@ -255,12 +259,14 @@ ao_kalman_correct_accel(void)
 {
 	ao_kalman_err_accel();
 
+#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;
 	}
+#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;
@@ -269,10 +275,30 @@ ao_kalman_correct_accel(void)
 #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
@@ -283,12 +309,21 @@ ao_kalman(void)
 	} 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 ((int16_t) (ao_sample_tick - ao_sample_prev_tick) > 50)
 		ao_avg_height = (ao_avg_height_scaled + 1) >> 1;