altos: Add ao_flight_debug code

Trace the kalman filter to make sure it's working.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao_flight.c b/src/ao_flight.c
index 7f194e04d59c6a793a576a2b12504b843ce1812b..4c65344f27b4bcd29d918432e87d71438390e04d 100644 (file)
--- a/src/ao_flight.c
+++ b/src/ao_flight.c
@@ -153,6 +153,11 @@ ao_kalman_predict(void)
 
                return;
        }
+       if (ao_flight_debug) {
+               printf ("predict speed %g + (%g * %g) = %g\n",
+                       ao_k_speed / (65536.0 * 16.0), ao_accel / 16.0, AO_K_STEP_100 / 65536.0,
+                       (ao_k_speed + (int32_t) ao_accel * AO_K_STEP_100) / (65536.0 * 16.0));
+       }
 #endif
        ao_k_height += ((int32_t) ao_speed * AO_K_STEP_100 +
                        (int32_t) ao_accel * AO_K_STEP_2_2_100) >> 4;
@@ -195,9 +200,21 @@ ao_kalman_err_height(void)
                height_distrust = 0;
 
        if (height_distrust) {
+#ifdef AO_FLIGHT_TEST
+               int     old_ao_error_h = ao_error_h;
+#endif
                if (height_distrust > 0x100)
                        height_distrust = 0x100;
                ao_error_h = (int16_t) ((int32_t) ao_error_h * (0x100 - height_distrust)) >> 8;
+#ifdef AO_FLIGHT_TEST
+               if (ao_flight_debug) {
+                       printf("over height %g over speed %g distrust: %g height: error %d -> %d\n",
+                              (double) (ao_raw_height - AO_MAX_BARO_HEIGHT),
+                              (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) / 16.0,
+                              height_distrust / 256.0,
+                              old_ao_error_h, ao_error_h);
+               }
+#endif
        }
 }
 
@@ -241,6 +258,15 @@ ao_kalman_correct_both(void)
 
 #ifdef AO_FLIGHT_TEST
        if (ao_flight_tick - ao_flight_prev_tick > 5) {
+               if (ao_flight_debug) {
+                       printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+                               ao_k_speed / (65536.0 * 16.0),
+                               (double) ao_error_h, AO_BOTH_K10_10 / 65536.0,
+                               (double) ao_error_a, AO_BOTH_K11_10 / 65536.0,
+                               (ao_k_speed +
+                                (int32_t) AO_BOTH_K10_10 * ao_error_h +
+                                (int32_t) AO_BOTH_K11_10 * ao_error_a) / (65536.0 * 16.0));
+               }
                ao_k_height +=
                        (int32_t) AO_BOTH_K00_10 * ao_error_h +
                        (int32_t) (AO_BOTH_K01_10 >> 4) * ao_error_a;
@@ -252,6 +278,15 @@ ao_kalman_correct_both(void)
                        (int32_t) AO_BOTH_K21_10 * ao_error_a;
                return;
        }
+       if (ao_flight_debug) {
+               printf ("correct speed %g + (%g * %g) + (%g * %g) = %g\n",
+                       ao_k_speed / (65536.0 * 16.0),
+                       (double) ao_error_h, AO_BOTH_K10_100 / 65536.0,
+                       (double) ao_error_a, AO_BOTH_K11_100 / 65536.0,
+                       (ao_k_speed +
+                        (int32_t) AO_BOTH_K10_100 * ao_error_h +
+                        (int32_t) AO_BOTH_K11_100 * ao_error_a) / (65536.0 * 16.0));
+       }
 #endif
        ao_k_height +=
                (int32_t) AO_BOTH_K00_100 * ao_error_h +
@@ -264,23 +299,23 @@ ao_kalman_correct_both(void)
                (int32_t) AO_BOTH_K21_100 * ao_error_a;
 }
 
+#ifdef FORCE_ACCEL
 static void
 ao_kalman_correct_accel(void)
 {
        ao_kalman_err_accel();
 
-#ifdef AO_FLIGHT_TEST
        if (ao_flight_tick - ao_flight_prev_tick > 5) {
                ao_k_height +=(int32_t) AO_ACCEL_K0_10 * ao_error_a;
                ao_k_speed  += (int32_t) AO_ACCEL_K1_10 * ao_error_a;
                ao_k_accel  += (int32_t) AO_ACCEL_K2_10 * ao_error_a;
                return;
        }
-#endif
        ao_k_height += (int32_t) AO_ACCEL_K0_100 * ao_error_a;
        ao_k_speed  += (int32_t) AO_ACCEL_K1_100 * ao_error_a;
        ao_k_accel  += (int32_t) AO_ACCEL_K2_100 * ao_error_a;
 }
+#endif
 #endif /* HAS_ACCEL */
 
 __xdata int32_t ao_raw_pres_sum;