X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_microkalman.c;h=3cfb87ccbfa3bf8b7b8169387858cf2286bb49db;hb=188f9efadd480de872f86a8eb741e8738db84c6b;hp=75a29cc41d9d7a43e1a817f3d7289717e479a742;hpb=4828be0ca5252ac9cd6061209385dcd6c4c57965;p=fw%2Faltos

diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index 75a29cc4..3cfb87cc 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -31,10 +32,32 @@
 
 #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 */
@@ -65,9 +88,9 @@ ao_microkalman_correct(void)
 
 	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);