altos: Switch telemetrum over to kalman filter

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index 527390b05bc90e87b95d4a128476f29f914c789c..b88bef1f0adc5707de57ab47c2167236b08576c6 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -34,7 +34,7 @@
 /* Stack runs from above the allocated __data space to 0xfe, which avoids
  * writing to 0xff as that triggers the stack overflow indicator
  */
-#define AO_STACK_START 0x80
+#define AO_STACK_START 0x90
 #define AO_STACK_END   0xfe
 #define AO_STACK_SIZE  (AO_STACK_END - AO_STACK_START + 1)
 
@@ -470,7 +470,7 @@ extern __xdata uint16_t ao_storage_unit;
 
 /* Initialize above values. Can only be called once the OS is running */
 void
-ao_storage_setup(void);
+ao_storage_setup(void) __reentrant;
 
 /* Write data. Returns 0 on failure, 1 on success */
 uint8_t
@@ -698,21 +698,19 @@ enum ao_flight_state {
 extern __data uint8_t                  ao_flight_adc;
 extern __pdata enum ao_flight_state    ao_flight_state;
 extern __pdata uint16_t                        ao_flight_tick;
-extern __pdata int16_t                 ao_flight_accel;
-extern __pdata int16_t                 ao_flight_pres;
-extern __pdata int32_t                 ao_flight_vel;
-extern __pdata int16_t                 ao_ground_pres;
+extern __xdata int16_t                 ao_ground_pres;
 extern __pdata int16_t                 ao_ground_accel;
-extern __pdata int16_t                 ao_min_pres;
 extern __pdata uint16_t                        ao_launch_time;
 extern __xdata uint8_t                 ao_flight_force_idle;
-#ifdef USE_KALMAN
 extern __pdata int16_t                 ao_ground_height;
-extern __pdata int32_t                 ao_k_max_height;
-extern __pdata int32_t                 ao_k_height;
-extern __pdata int32_t                 ao_k_speed;
-extern __pdata int32_t                 ao_k_accel;
-#endif
+extern __pdata int16_t                 ao_max_height;
+extern __pdata int16_t                 ao_height;      /* meters */
+extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
+extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */
+
+#define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
 
 /* Flight thread */
 void
@@ -912,10 +910,16 @@ struct ao_telemetry {
        uint16_t                serial;
        uint16_t                flight;
        uint8_t                 flight_state;
-       int16_t                 flight_accel;
+       int16_t                 accel;
        int16_t                 ground_accel;
-       int32_t                 flight_vel;
-       int16_t                 flight_pres;
+       union {
+               struct {
+                       int16_t                 speed;
+                       int16_t                 unused;
+               } k;
+               int32_t         flight_vel;
+       } u;
+       int16_t                 height;
        int16_t                 ground_pres;
        int16_t                 accel_plus_g;
        int16_t                 accel_minus_g;