X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_microkalman.c;h=a9b2c7092aa33e20c3716857f45e1b7550551d26;hb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;hp=ff543cc43ec8916c0c5475f5246fd43cbb5054d5;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;p=fw%2Faltos

diff --git a/src/kernel/ao_microkalman.c b/src/kernel/ao_microkalman.c
index ff543cc4..a9b2c709 100644
--- a/src/kernel/ao_microkalman.c
+++ b/src/kernel/ao_microkalman.c
@@ -32,10 +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 */
@@ -48,14 +70,14 @@ int16_t		ao_pa_accel;		/* integer portion */
 void
 ao_microkalman_init(void)
 {
-	ao_pa = pa;
-	ao_k_pa = pa << 8;
+	ao_pa = (uint32_t) pa;
+	ao_k_pa = (uint32_t) (pa << 8);
 }
 
 void
 ao_microkalman_predict(void)
 {
-	ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+	ao_k_pa       += (uint32_t) (int32_t) fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
 	ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
 }
 
@@ -64,12 +86,12 @@ ao_microkalman_correct(void)
 {
 	int16_t	e;	/* Height error in Pa */
 
-	e = pa - from_fix8(ao_k_pa);
+	e = (int16_t) (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       += (uint32_t)(int32_t)fix16_to_fix8(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);
+	ao_pa_speed = (int16_t) from_fix(ao_k_pa_speed);
+	ao_pa_accel = (int16_t) from_fix(ao_k_pa_accel);
 }