X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_kalman.c;h=f93f5aba94f1daa17d2830d7ce42969e6617111e;hb=f10009b07b651f69014ac5608f3ca29bce874c24;hp=ac41085df8166db526d26c0d5a95f5f750360056;hpb=4775b1d9b50a8732d66a0ad3b73ff74901a8cb7f;p=fw%2Faltos

diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c
index ac41085d..f93f5aba 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)
@@ -37,20 +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;
-#if !HAS_ACCEL
-__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
@@ -82,10 +86,11 @@ 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)
 {
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
 	ao_v_t	e;
 #endif
 	ao_v_t height_distrust;
@@ -95,7 +100,7 @@ ao_kalman_err_height(void)
 
 	ao_error_h = ao_sample_height - (ao_v_t) (ao_k_height >> 16);
 
-#if !HAS_ACCEL
+#if AO_ERROR_H_SQ_AVG
 	e = ao_error_h;
 	if (e < 0)
 		e = -e;
@@ -136,7 +141,9 @@ ao_kalman_err_height(void)
 #endif
 	}
 }
+#endif
 
+#if HAS_BARO
 static void
 ao_kalman_correct_baro(void)
 {
@@ -159,6 +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
 
@@ -173,7 +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)
 {
@@ -251,12 +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;
@@ -265,10 +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
@@ -279,12 +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;