#error Please define HAS_USB
#endif
+#ifndef USE_KALMAN
+#error Please define USE_KALMAN
+#endif
+
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
__xdata int32_t ao_raw_accel_sum;
#endif
+#if USE_KALMAN
+__pdata int16_t ao_ground_height;
+__pdata int32_t ao_k_max_height;
+__pdata int32_t ao_k_height;
+__pdata int32_t ao_k_speed;
+__pdata int32_t ao_k_accel;
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+
+#define from_fix(x) ((x) >> 16)
+
+#define AO_K0_100 to_fix16(0.05680323)
+#define AO_K1_100 to_fix16(0.16608182)
+#define AO_K2_100 to_fix16(0.24279580)
+
+#define AO_K_STEP_100 to_fix16(0.01)
+#define AO_K_STEP_2_2_100 to_fix16(0.00005)
+
+#define AO_K0_10 to_fix16(0.23772023)
+#define AO_K1_10 to_fix16(0.32214149)
+#define AO_K2_10 to_fix16(0.21827159)
+
+#define AO_K_STEP_10 to_fix16(0.1)
+#define AO_K_STEP_2_2_10 to_fix16(0.005)
+
+static void
+ao_kalman_baro(void)
+{
+ int16_t err = ((ao_pres_to_altitude(ao_raw_pres) - ao_ground_height))
+ - (int16_t) (ao_k_height >> 16);
+
+#ifdef AO_FLIGHT_TEST
+ if (ao_flight_tick - ao_flight_prev_tick > 5) {
+ ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_10 +
+ (ao_k_accel >> 16) * AO_K_STEP_2_2_10);
+ ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_10;
+
+ /* correct */
+ ao_k_height += (int32_t) AO_K0_10 * err;
+ ao_k_speed += (int32_t) AO_K1_10 * err;
+ ao_k_accel += (int32_t) AO_K2_10 * err;
+ return;
+ }
+#endif
+ ao_k_height += ((ao_k_speed >> 16) * AO_K_STEP_100 +
+ (ao_k_accel >> 16) * AO_K_STEP_2_2_100);
+ ao_k_speed += (ao_k_accel >> 16) * AO_K_STEP_100;
+
+ /* correct */
+ ao_k_height += (int32_t) AO_K0_100 * err;
+ ao_k_speed += (int32_t) AO_K1_100 * err;
+ ao_k_accel += (int32_t) AO_K2_100 * err;
+}
+#endif
+
__xdata int32_t ao_raw_pres_sum;
/* Landing is detected by getting constant readings from both pressure and accelerometer
ao_flight_vel += (int32_t) ao_vel_change * (int32_t) ticks;
#endif
+#if USE_KALMAN
+ if (ao_flight_state > ao_flight_idle)
+ ao_kalman_baro();
+#endif
ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
}
ao_ground_pres = ao_raw_pres_sum >> 9;
ao_min_pres = ao_ground_pres;
ao_config_get();
+#if USE_KALMAN
+ ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
+#endif
ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
#if HAS_ACCEL
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-
#if HAS_USB
/* Disable the USB controller in flight mode
* to save power
* the barometer, but we use both to make sure this
* transition is detected
*/
+#if USE_KALMAN
+ if ((ao_k_accel > to_fix32(20) &&
+ ao_k_speed > to_fix32(5)) ||
+ ao_k_height > to_fix32(20))
+#else
if (
#if HAS_ACCEL
(ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
ao_flight_vel > ACCEL_VEL_BOOST) ||
#endif
ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
+#endif
{
-#if HAS_ACCEL
+#if HAS_ACCEL || USE_KALMAN
ao_flight_state = ao_flight_boost;
#else
ao_flight_state = ao_flight_coast;
break;
}
break;
-#if HAS_ACCEL
+#if HAS_ACCEL || USE_KALMAN
case ao_flight_boost:
/* boost to fast:
* deceleration, or by waiting until the maximum burn duration
* (15 seconds) has past.
*/
+#if USE_KALMAN
+ if ((ao_k_accel < to_fix32(-10) && ao_k_height > to_fix32(100)) ||
+ (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+#else
if (ao_flight_accel > ao_ground_accel + ACCEL_COAST ||
(int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
+#endif
{
ao_flight_state = ao_flight_fast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
* how big a pressure change the mach transition
* generates would be useful here.
*/
+#if USE_KALMAN
+ if (ao_k_speed < to_fix32(200) ||
+ ao_k_height < ao_k_max_height - to_fix32(500))
+#else
if (ao_flight_vel < ACCEL_VEL_MACH ||
ao_flight_pres > ao_min_pres + BARO_COAST)
+#endif
{
+#if HAS_ACCEL
/* set min velocity to current velocity for
* apogee detect
*/
ao_min_vel = abs(ao_flight_vel);
+#endif
ao_flight_state = ao_flight_coast;
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
-#endif
+#endif /* HAS_ACCEL */
case ao_flight_coast:
+#if USE_KALMAN
+ /* apogee detect: coast to drogue deploy:
+ *
+ * speed: < 0
+ */
+ if (ao_k_speed < 0)
+#else
/* apogee detect: coast to drogue deploy:
*
* barometer: fall at least 10m
* we'll trust to a single sensor for this test
*/
if (ao_flight_pres > ao_min_pres + BARO_APOGEE)
+#endif
{
/* ignite the drogue charge */
ao_ignite(ao_igniter_drogue);
* at that point. Perhaps also use the drogue sense lines
* to notice continutity?
*/
+#if USE_KALMAN
+ if (from_fix(ao_k_height) < ao_config.main_deploy)
+#else
if (ao_flight_pres >= ao_main_pres)
+#endif
{
ao_ignite(ao_igniter_main);
ao_flight_state = ao_flight_main;
projects / fw / altos / blobdiff